Note: Descriptions are shown in the official language in which they were submitted.
SYSTEM AND METHOD FOR WELDING TORCH DISPLAY
[0001] [BLANK]
BACKGROUND
[0002] The invention relates generally to welding and, more particularly,
to a welding
system that may be used for monitoring a weld environment and managing welding
data
associated with the weld environment, such as welding data collected from the
weld
environment during and/or preceding welding.
[0003] Welding is a process that has increasingly become utilized in
various industries
and applications. Such processes may be automated in certain contexts,
although a large
number of applications continue to exist for manual welding operations. In
both cases,
such welding operations rely on a variety of types of equipment to ensure the
supply of
welding consumables (e.g., wire feed, shielding gas, etc.) is provided to the
weld in
appropriate amounts at the desired time.
[0004] In preparation for performing manual welding operations, welding
operators
may be trained using a welding system (e.g., a welding training system). The
welding
system may be designed to train welding operators with the proper techniques
for
performing various welding operations. Certain welding systems may use various
training methods. As may be appreciated, these training systems may be
expensive to
acquire and operate. Accordingly, welding training institutions may only
acquire a
limited number of such training systems. Furthermore, certain welding systems
may not
adequately train welding operators to perform high quality welds.
SUMMARY OF THE INVENTION
[0004A] An aspect of the invention provides for a method including determining
an
orientation of a display of a welding torch relative to a joint of a
workpiece; displaying, on the
display of the welding torch during a welding operation, a graphical
representation of a
1
CA 2961593 2018-09-05
welding parameter in relation to a predetermined threshold range for the
welding parameter as
a position of the welding torch changes, the orientation of the welding torch
changes, a
movement of the welding torch changes, or a combination of those changes. The
graphical
representation of the welding parameter is associated with, the position of
the welding torch
relative to the joint, the orientation of the welding torch relative to the
joint, the movement of
the welding torch relative to the joint, or a combination of the changes.
Rotating the graphical
representation of the welding parameter on the display is based at least in
part on the determined
orientation of the display of the welding torch relative to the joint.
Determining the orientation
of the display of the welding torch includes detecting, via a sensing device,
a set of visual
markers disposed on the welding torch; associating a rigid body model to the
detected set of
visual markers disposed on the welding torch; and determining the orientation
of the display of
the welding torch relative to the rigid body model of the detected set of
visual markers based at
least in part on a relative position of two or more visual markers of the
detected set of visual
markers.
[0004B1 Another aspect of the invention provides for a system including a
welding torch,
having a housing configured to enclose control circuitry of the welding torch;
and a display
coupled to the housing. The display is configured to display during a welding
operation a
graphical representation of a welding parameter in relation to a predetermined
threshold range for
the welding parameter as a position of the welding torch changes, an
orientation of the welding
torch changes, a movement of the welding torch changes, or a combination of
those changes.
The graphical representation of the welding parameter is associated with the
position of the
welding torch relative to a joint of a workpiece, the orientation of the
welding torch relative to
the joint of the workpiece, the movement of the welding torch relative to the
joint of the
workpiece, or a combination of those changes, and a set of visual markers.
Each visual marker
of the set of visual markers is oriented in a direction, and an optical
sensing device. The optical
sensing device is configured to determine the orientation of the display
relative to the joint of
the workpiece based at least in part on detection of three or more markers of
the set of visual
markers. Determining the orientation of the display of the welding torch
includes detecting, via
the sensing device, the set of visual markers disposed on the welding torch;
associating a rigid
body model to the detected set of visual markers disposed on the welding
1 a
CA 2961593 2019-04-26
torch; and determining the orientation of the display of the welding torch
relative to the rigid
body model of the detected set of visual markers based at least in part on a
relative position of
two or more visual markers of the detected set of visual markers. The
graphical representation
is configured to rotate on the display relative to the housing based at least
in part on the
orientation of the display relative to the joint of the workpiece.
DRAWINGS
[0005] These and
other features, aspects, and advantages of the present invention will
become better understood when the following detailed description is read with
reference
to the accompanying drawings in which like characters represent like parts
throughout the
drawings, wherein:
lb
CA 2961593 2018-09-05
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0006] FIG. 1 is a block diagram of an embodiment of a welding system in
accordance
with aspects of the present disclosure;
[0007] FIG. 2 is a block diagram of an embodiment of portions of the
welding system
of FIG. 1 in accordance with aspects of the present disclosure;
[0008] FIG. 2A is a schematic diagram of an embodiment of circuitry of the
welding
torch of FIG. 1 in accordance with aspects of the present disclosure;
[0009] FIG. 3 is a perspective view of an embodiment of the welding torch
of FIG. 1
in accordance with aspects of the present disclosure;
[0010] FIG. 4 is a perspective view of an embodiment of the welding stand
of FIG. 1
in accordance with aspects of the present disclosure;
[0011] FIG. 5 is a perspective view of an embodiment of a calibration
device in
accordance with aspects of the present disclosure;
[0012] FIG. 6 is a perspective view of an embodiment of a fixture assembly
in
accordance with aspects of the present disclosure;
[0013] FIG. 7 is a perspective view of a welding wire stickout calibration
tool in
accordance with aspects of the present disclosure;
[0014] FIG. 8 is a top view of the welding wire stickout calibration tool
of FIG. 7 in
accordance with aspects of the present disclosure;
[0015] FIG. 9 is an embodiment of a method for calibrating wire stickout
from a
welding torch in accordance with aspects of the present disclosure;
[0016] FIG. 10 is a perspective view of an embodiment of a welding
consumable
having physical marks in accordance with aspects of the present disclosure;
[0017] FIG. 11 is a perspective view of an embodiment of welding wire
having
physical marks in accordance with aspects of the present disclosure;
[0018] FIG. 12 is a perspective view of an embodiment of a vertical arm
assembly of
the welding stand of FIG. 1 in accordance with aspects of the present
disclosure;
[0019] FIG. 13 is a perspective view of an embodiment of an overhead
welding arm
assembly in accordance with aspects of the present disclosure;
[0020] FIG. 14 is a block diagram of an embodiment of welding software
haying
multiple training modes in accordance with aspects of the present disclosure;
2
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0021] FIG. 15 is a block diagram of an embodiment of a virtually reality
mode of
welding software in accordance with aspects of the present disclosure;
[0022] FIG. 16 is an embodiment of a method for integrating training
results data in
accordance with aspects of the present disclosure;
[0023] FIG. 17 is an embodiment of a chart illustrating multiple sets of
welding data
for a welding operator in accordance with aspects of the present disclosure;
[0024] FIG. 18 is an embodiment of a chart illustrating welding data for a
welder
compared to welding data for a class in accordance with aspects of the present
disclosure;
[0025] FIG. 19 is a block diagram of an embodiment of a data storage system
(e.g.,
cloud storage system) for storing certification status data in accordance with
aspects of
the present disclosure;
[0026] FIG. 20 is an embodiment of a screen illustrating data corresponding
to a weld
in accordance with aspects of the present disclosure;
[0027] FIG. 21 is an embodiment of a screen illustrating a discontinuity
analysis of a
weld in accordance with aspects of the present disclosure;
[0028] FIG. 22 is a block diagram of an embodiment of a welding instructor
screen of
welding software in accordance with aspects of the present disclosure;
[0029] FIG. 23 is an embodiment of a method for weld training using augmented
reality in accordance with aspects of the present disclosure;
[0030] FIG. 24 is an embodiment of another method for weld training using
augmented reality in accordance with aspects of the present disclosure;
[0031] FIG. 25 is a block diagram of an embodiment of a welding torch in
accordance
with aspects of the present disclosure;
[0032] FIG. 26 is an embodiment of a method for providing vibration
feedback to a
welding operator using a welding torch in accordance with aspects of the
present
disclosure;
[0033] FIG. 27 is a graph of an embodiment of two patterns each including a
different
frequency for providing vibration feedback to a welding operator in accordance
with
aspects of the present disclosure;
[0034] FIG. 28 is a graph of an embodiment of two patterns each including a
different
modulation for providing vibration feedback to a welding operator in
accordance with
aspects of the present disclosure;
3
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0035] FIG. 29 is a graph of an embodiment of two patterns each including a
different
amplitude for providing vibration feedback to a welding operator in accordance
with
aspects of the present disclosure;
[0036] FIG. 30 is a perspective view of an embodiment of a welding torch
having
spherical markers that may be used for tracking the welding torch in
accordance with
aspects of the present disclosure;
[0037] FIG. 31 is perspective view of an embodiment of the welding torch,
taken
along line 31-31 of FIG. 30 in accordance with aspects of the present
disclosure;
[0038] FIG. 32 is a top view of an embodiment of the welding torch and
visual
markers in accordance with aspects of the present disclosure;
[0039] FIG. 33 is an embodiment of a method for displaying on a display of
a welding
torch a welding parameter in relation to a threshold in accordance with
aspects of the
present disclosure;
[0040] FIG. 34 is an embodiment of a set of screenshots of a display of a
welding
torch for showing a welding parameter in relation to a threshold in accordance
with
aspects of the present disclosure;
[0041] FIG. 35 is an embodiment of a method for tracking a welding torch in
a
welding system using at least four markers in accordance with aspects of the
present
disclosure;
[0042] FIG. 36 is an embodiment of a method for detecting the ability for a
processor
to communicate with a welding torch in accordance with aspects of the present
disclosure;
[0043] FIG. 37 is an embodiment of a method for calibrating a curved weld
joint that
may be used with a welding system in accordance with aspects of the present
disclosure;
[0044] FIG. 38 is a diagram of an embodiment of a curved weld joint in
accordance
with aspects of the present disclosure;
[0045] FIG. 39 is a diagram of an embodiment of a curved weld joint and a
marking
tool in accordance with aspects of the present disclosure;
[0046] FIG. 40 is an embodiment of a method for tracking a multi-pass
welding
operation in accordance with aspects of the present disclosure;
[0047] FIG. 41 is a perspective view of an embodiment of a welding stand in
accordance with aspects of the present disclosure;
4
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0048] FIG. 42 is a cross-sectional view of an embodiment of a welding
surface of the
welding stand of FIG. 41 in accordance with aspects of the present disclosure;
[0049] FIG. 43 is a cross-sectional view of an embodiment of a sensing
device having
a removable cover in accordance with aspects of the present disclosure;
[0050] FIG. 44 is a perspective view of an embodiment of a calibration tool
in
accordance with aspects of the present disclosure;
[0051] FIG. 45 is a perspective view of the calibration tool of FIG. 44
having an outer
cover removed in accordance with aspects of the present disclosure;
[0052] FIG. 46 is a side view of an embodiment of a pointed tip of a
calibration tool in
accordance with aspects of the present disclosure;
[0053] FIG. 47 is a side view of an embodiment of a rounded tip of a
calibration tool
in accordance with aspects of the present disclosure;
[0054] FIG. 48 is a side view of an embodiment of a rounded tip of a
calibration tool
having a small pointed tip in accordance with aspects of the present
disclosure;
[0055] FIG. 49 is an embodiment of a method for detecting a calibration
point in
accordance with aspects of the present disclosure;
[0056] FIG. 50 is an embodiment of a method for determining a welding score
based
on a welding path in accordance with aspects of the present disclosure;
[0057] FIG. 51 is an embodiment of a method for transitioning between
welding
modes using a user interface of a welding torch in accordance with aspects of
the present
disclosure;
[0058] FIG. 52 is an embodiment of a remote welding training system in
accordance
with aspects of the present disclosure;
[0059] FIG. 53 is an embodiment of a dashboard page with welding data from
different operators, in accordance with aspects of the present disclosure;
[0060] FIG. 54 is an embodiment of a welding system with depth sensors and
a local
positioning system, in accordance with aspects of the present disclosure;
[0061] FIG. 55 is an embodiment of a method of controlling visual markers
of the
welding torch to track the movement and position of the welding torch, in
accordance
with aspects of the present disclosure;
[0062] FIG. 56 is a cross-sectional view of a base component with visual
markers, in
accordance with aspects of the present disclosure;
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0063] FIG. 57 is a perspective view of an embodiment of the arms and clamp
assembly of the welding stand, in accordance with aspects of the present
disclosure;
[0064] FIG. 58 is a top view of an embodiment of a mount of the clamp
assembly of
FIG. 57, taken along line 58-58, in accordance with aspects of the present
disclosure;
[0065] FIG. 59 is perspective view of an embodiment of a calibration block
coupled to
the clamp assembly of FIG. 57, in accordance with aspects of the present
disclosure;
[0066] FIG. 60 is an embodiment of a method for the set up of the arms of
the training
stand for an out of position welding assignment, in accordance with aspects of
the present
disclosure;
[0067] FIG. 61 is an embodiment of a method for the selection and execution
of a
multi-pass welding assignment with the welding system, in accordance with
aspects of
the present disclosure;
[0068] FIG. 62 is an embodiment of a screen illustrating data, including
arc
parameters, corresponding to a weld in accordance with aspects of the present
disclosure;
[0069] FIG. 63 is an embodiment of a screen illustrating data corresponding
to a weld
test for which an arc has not been detected in accordance with aspects of the
present
disclosure;
[0070] FIG. 64 is an embodiment of a screen illustrating assignment
development
routines in accordance with aspects of the present disclosure;
[0071[ FIG. 65 is an embodiment of a screen illustrating properties
relating to a
welding procedure in accordance with aspects of the present disclosure;
[0072] FIG. 66 is an embodiment of a screen illustrating data corresponding
to a
simulated weld in accordance with aspects of the present disclosure;
[0073] FIG. 67 is an embodiment of a screen illustrating data corresponding
to a weld
prior to initiation of the weld in accordance with aspects of the present
disclosure;
[0074] FIG. 68 is an embodiment of a screen illustrating a summary of weld
test
parameters in accordance with aspects of the present disclosure;
[0075] FIG. 69 is an embodiment of a screen illustrating data, including
arc
parameters, corresponding to a weld during a weld test in accordance with
aspects of the
present disclosure;
[0076] FIG. 70 is an embodiment of a screen illustrating data, including
heat input,
corresponding to a weld in accordance with aspects of the present disclosure;
6
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0077] FIG. 71 is a diagram of an embodiment of the aim of a welding torch
relative to
a workpiece in accordance with aspects of this present disclosure;
[0078] FIG. 72 is an embodiment of a marker that may be applied to the
workpiece by
a marking tool in accordance with aspects of this present disclosure;
[0079] FIG. 73 is an embodiment of a marker that may be applied to the
workpiece by
a marking tool in accordance with aspects of this present disclosure;
[0080] FIG. 74 is an embodiment of a marker that may be applied to the
workpiece by
a marking tool in accordance with aspects of this present disclosure;
[0081] FIG. 75 is an embodiment of a marker that may be applied to the
workpiece by
a marking tool in accordance with aspects of this present disclosure;
[0082] FIG. 76 is a perspective view of an embodiment of a welding system
with a
marking tool and markers applied to surfaces of a workpiece with the marking
tool in
accordance with aspects of this present disclosure; and
[0083] FIG. 77 is an embodiment of a method of calibrating sets of visual
markers of
the welding torch, in accordance with aspects of the present disclosure.
DETAILED DESCRIPTION
[0084] FIG. 1 is a block diagram of an embodiment of one or more welding
systems
10. As used herein, a welding system may include any suitable welding related
system,
including, but not limited to, a welding training system, a live welding
system, a remote
welding training system (e.g., helmet training system), a simulated welding
system, a
virtual reality welding system, and so forth. For example, the welding system
10 may
include, but is not limited to, a LiveArcim Welding Performance Management
System
available from Miller Electric of Appleton, WI. The welding system 10 may
include a
welding stand 12 for providing support for various training devices. For
example, the
stand 12 may be configured to support a welding surface, a workpiece 82, a
fixture, one
or more training arms, and so forth. The welding system 10 includes a welding
torch 14
that may be used by a welding operator (e.g., welding student) to perform
welding
operations (e.g., training operations). As described in greater detail below,
the welding
torch 14 may be configured with a user interface configured to receive inputs
from the
welding operator, control circuitry configured to process the inputs, and a
communication
interface configured to provide the inputs to another device. Furthermore, the
welding
torch 14 may include one or more display and/or indicators to provide data to
the welding
operator.
7
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[0085] Moreover, the welding system 10 includes one or more sensing devices
16
(e.g., sensor, sensing assembly, and so forth) used to sense a position of one
or more
welding devices and/or to sense an orientation of one or more welding devices.
For
example, the sensing device 16 may be used to sense a position and/or an
orientation of
the stand 12, the welding torch 14, a welding surface, the workpiece 82, a
fixture, one or
more training arms, the operator, an identification token, and so forth. The
one or more
sensing devices 16 may include any suitable sensing device, such as an
inertial sensing
device or a motion tracking device. Furthermore, the sensing device 16 may
include one
or more cameras, such as one or more infrared cameras, one or more visible
spectrum
cameras, one or more high dynamic range (HDR) cameras, and so forth.
Additionally, or
in the alternative, the sensing device 16 may include one or more depth
sensors to
determine relative distances between the respective depth sensors 16 and an
object (e.g.,
welding torch 14, workpiece 82, operator, and so forth). The sensing devices
16 may be
positioned in various locations about the welding environment of the training
system 10,
thereby enabling some sensing devices 16 to monitor the welding environment
(e.g., track
movement of an object) when other sensing devices 16 are obscured. For
example, a
sensing device 16 (e.g., camera, depth sensor) integrated with a welding
helmet 41 may
facilitate tracking the position, orientation, and/or movement of the welding
torch 14
relative to the workpiece 82 when the welding torch 14 is at least partially
obscured from
other sensing devices 16 by the workpiece 82 or the operator. For example,
markers
disposed on the welding torch 14 that facilitate tracking the welding torch 14
may be
partially obscured from a first sensing device 16, yet be observable by
another sensing
device 16 of the helmet 41. The other sensing device 16 of the helmet 41 may
be
independent of the first sensing device 16. Furthermore, a sensing device 16
(e.g.,
accelerometer) integrated with the welding torch 14 may facilitate tracking
the position,
orientation, and/or movement of the welding torch 14 relative to the workpiece
82 when
the welding torch 14 is at least partially obscured from other sensing devices
16 (e.g.,
cameras, depth sensors) by the workpiece 82 or the operator.
[0086] The sensing device 16 is communicatively coupled to a computer 18.
The
sensing device 16 is configured to provide data (e.g., image data, acoustic
data, sensed
data, six degrees of freedom (6D0F) data, etc.) to the computer 18.
Furthermore, the
sensing device 16 may be configured to receive data (e.g., configuration data,
setup data,
commands, register settings, etc.) from the computer 18. The computer 18
includes one
or more processors 20, memory devices 22, and storage devices 24. The computer
18
may include, but is not limited to, a desktop, a laptop, a tablet, a mobile
device, a
wearable computer, or any combination thereof. The processor(s) 20 may be used
to
8
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
execute software, such as welding software, image processing software, sensing
device
software, and so forth. Moreover, the processor(s) 20 may include one or more
microprocessors, such as one or more "general-purpose" microprocessors, one or
more
special-purpose microprocessors and/or application specific integrated
circuits (ASICS),
or some combination thereof. For example, the processor(s) 20 may include one
or more
reduced instruction set (RISC) processors.
[0087] The storage device(s) 24 (e.g., nonvolatile storage) may include
ROM, flash
memory, a hard drive, or any other suitable optical, magnetic, or solid-state
storage
medium, or a combination thereof. The storage device(s) 24 may store data
(e.g., data
corresponding to a welding operation, video and/or parameter data
corresponding to a
welding operation, data corresponding to an identity and/or a registration
number of the
operator, data corresponding to past operator performance, etc.), instructions
(e.g.,
software or firmware for the welding system, the sensing device 16, etc.), and
any other
suitable data. As will be appreciated, data that corresponds to a welding
operation may
include a video recording of the welding operation, a simulated video, an
orientation of
the welding torch 14, a position of the welding torch 14, a work angle, a
travel angle, a
distance between a contact tip of the welding torch 14 and a workpiece, a
travel speed, an
aim, a voltage, a current, a traversed path, a discontinuity analysis, welding
device
settings, and so forth.
[0088] The memory device(s) 22 may include a volatile memory, such as
random
access memory (RAM), and/or a nonvolatile memory, such as read-only memory
(ROM).
The memory device(s) 22 may store a variety of information and may be used for
various
purposes. For example, the memory device(s) 22 may store processor-executable
instructions (e.g., firmware or software) for the processor(s) 20 to execute,
such as
instructions for a welding training simulation, for the sensing device 16,
and/or for an
operator identification system 43. In addition, a variety of control regimes
for various
welding processes, along with associated settings and parameters may be stored
in the
storage device(s) 24 and/or memory device(s) 22, along with code configured to
provide a
specific output (e.g., initiate wire feed, enable gas flow, capture welding
current data,
detect short circuit parameters, determine amount of spatter, etc.) during
operation. The
welding power supply 28 may be used to provide welding power to a live-arc
welding
operation, and the wire feeder 30 may be used to provide welding wire to the
live-arc
welding operation.
[0089] The welding system 10 includes a display 32 for displaying data
and/or screens
associated with welding (e.g., to display data corresponding to a welding
software). For
9
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
example, the display 32 may provide a graphical user interface to a welding
operator
(e.g., welding instructor, welding student). The graphical user interface may
provide
various screens to enable the welding instructor to organize a class, provide
assignments
to the class, analyze assignments performed by the class, provide assignments
to an
individual, analyze assignments performed by the individual, add, change,
and/or delete
parameters for a welding assignment, and so forth. Furthermore, the graphical
user
interface may provide various screens to enable a welding operator (e.g.,
welding student)
to perform a welding assignment, view results from prior welding assignments,
and so
forth. In certain embodiments, the display 32 may be a touch screen display
configured
to receive touch inputs, and to provide data corresponding to the touch inputs
to the
computer 18.
[0090] An external display 34 is coupled to the computer 18 to enable an
individual
located remotely from the welding system 10 to view data corresponding to the
welding
system 10. Furthermore, a network device 36 is coupled to the computer 18 to
enable the
computer 18 to communicate with other devices connected to the Internet or
another
network 38 (e.g., for providing test results to another device and/or for
receiving test
results from another device). For example, the network device 36 may enable
the
computer 18 to communicate with an external welding system 40, a production
welding
system 42, a remote computer 44, and/or a data storage system (e.g., cloud
storage
system) 318. As may be appreciated, the welding system 10 described herein may
be
used to train welding students in a cost effective manner. In some
embodiments, the one
or more welding systems 10 may include a helmet 41 having a display 32 and one
or
more sensing devices 16, such as optical or acoustic sensing devices. As
described in
detail below, the helmet 41 is communicatively coupled to the computer 18, and
the
helmet 41 may facilitate welding training and/or welding monitoring without
the training
stand 12. In some embodiments, the one or more sensing devices 16 integrated
with the
helmet 41 may facilitate welding training and/or welding monitoring without
separate
sensing devices 16 external to the helmet 41. Furthermore, the welding system
10 is
configured to integrate real welding with simulated welding in a manner that
prepares
welding students for high quality production welding.
[0091] An operator identification system 43 is coupled to the computer 18
to enable an
operator utilizing the welding system 10 to be identified. The operator
identification
system 43 utilizes one or more types of operator information (e.g.,
identifiers) to identify
the operator. Operator information may include, but is not limited to, a
resettable
identifier 45 (e.g., password, motion sequence, operator-performed action), a
biometric
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
identifier 47 (e.g., retinal scan, fingerprint, palm print, facial profile,
voice profile,
inherent operator trait), information based at least in part on a biometric
identifier 47, a
token 49 (e.g., key, key fob, radio frequency identification (RFID) tag,
passcard, barcode,
physical identifier), or any combination thereof. Additionally, or in the
alternative, an
instructor or manager may provide an input to the operator identification
system 43 to
verify the identity of the operator, thereby authorizing the operator for the
welding
session (e.g., welding assignment) and the associated weld data. That is,
the
identification of an operator may involve one or more steps, such as operator
identification via information received from the operator, and operator
verification via
information received from the instructor and/or manager of the operator. In
some
embodiments, the operator identification system 43 may utilize the one or more
sensing
devices 16 to facilitate operator identification. For example, a camera or
microphone of
the welding system 10 may receive the biometric identifier 47. Moreover, the
operator
identification system 43 may have an input device 51 (e.g., keypad, touch
screen, retinal
scanner, fingerprint sensor, camera, microphone, barcode scanner, radio
transceiver, and
so forth) configured to receive the one or more types of operator
identification
information.
[0092] The
operator identification system 43 may identify the operator prior to
performing a weld process (e.g., live process, training process, simulated
process, virtual
reality process) or after performing the weld process. In some embodiments,
the operator
identification system 43 may enable or lock out an operator from utilizing the
welding
system 10 based on the one or more identifiers received at the input device
51. For
example, the operator identification system 43 may lock out a first operator
(e.g., student)
from utilizing the welding system 10 until the operator identification system
43 receives a
first input from the first operator that may identify the first operator. In
some
embodiments, the welding system 10 may enable the first operator to perform a
welding
session with the welding system 10 without verification of the identity of the
first
operator; however, the welding system 10 may store and/or transmit the welding
data
associated with such a welding session only upon verification of the identity
of the first
operator based at least in part on a second input from a second operator
(e.g., instructor,
administrator). That is, the operator identification system 43 may disable the
storage or
transmission of the welding data associated with a welding session until the
identity of the
first operator that performed the welding session is verified by the second
operator.
Moreover, some embodiments of the welding system 10 may lock out the first
operator
from utilizing the welding system until a second input is received from the
second
operator that verifies the identity of the first operator, which was
preliminarily determined
11
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
based on the first input from the first operator. In some embodiments, the
operator
identification system 43 may identify the operator during a weld process, such
as via an
identifying characteristic of an operator during the weld process. For
example, a first
operator may hold the welding torch differently than a second operator, and a
sensing
device 16 (e.g., camera) coupled to the operator identification system 43 may
facilitate
distinguishing the first operator from the second operator. Additionally, or
in the
alternative, the operator identification system 43 may include a sensor (e.g.,
fingerprint
scanner, camera, microphone) on the welding torch 14 or the helmet 41. In some
embodiments, an instructor and/or a manager may confirm upon completion of a
weld
process that the identified operator performed the weld process.
[0093] The operator identification system 43 may communicate with the
computer 18
to determine the identity of the operator utilizing the received
identification information.
In some embodiments, the computer 18 may communicate with the network 38
and/or a
remote computer 44 to determine the identity of the operator. The computer 18
may
control the display 32 to display at least some of the information associated
with the
operator upon identification of the operator. For example, the display 32 may
present the
name, a photo, registration number, experience level, or any combination
thereof. In
some embodiments, the operator identification system 43 may be utilized with
one or
more welding systems 10.
[0094] The computer 18 may receive welding data (e.g., welding parameters,
arc
parameters) corresponding to a welding session (e.g., welding assignment)
during and/or
after the respective welding session is performed by the operator. The
computer 18 may
receive the welding data from the network 38, one or more sensing devices 16,
the
welding torch 14, the welding power supply 28, the wire feeder 30, or the
helmet 41, or
any combination thereof. Additionally, or in the alternative, the computer 18
may
associate the received welding data with the identity of the operator, such as
via a
registration number unique to the operator, the operator's name, and/or a
photograph of
the operator. Moreover, the computer 18 may transmit the associated welding
data and
identity of the operator (e.g., registration number) to a data storage system
within the
welding system 10 or located remotely via the network 38. Association of the
welding
data with the identity of the operator (e.g., via the registration number)
enables
significantly more than the collection of unassociated welding data from
operators. That
is, association of the welding data with a registration number unique to the
operator
enables someone (e.g., the operator, instructor, manager) that is either local
or remote
12
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
from the operator to track the performance, progress, and skills of the
operator over time
via the registration number.
[0095] FIG. 2 is a block diagram of an embodiment of portions of the
welding system
of FIG. 1. As illustrated, a power distribution assembly 46 provides power to
the
welding torch 14 and the computer 18. Moreover, the welding torch 14 includes
control
circuitry 52 configured to control the operation of the welding torch 14. In
the illustrated
embodiment, the control circuitry 52 includes one or more processors 54,
memory
devices 56, and storage devices 58. In other embodiments, the control
circuitry 52 may
not include the processors 54, the memory devices 56, and/or the storage
devices 58. The
processor(s) 54 may be used to execute software, such as welding torch
software.
Moreover, the processor(s) 54 may be similar to the processor(s) 20 described
previously.
Furthermore, the memory device(s) 56 may be similar to the memory device(s)
22, and
the storage device(s) 58 may be similar to the storage device(s) 24.
[0096] The welding torch 14 includes a user interface 60 to enable a
welding operator
(e.g., welding student, welding instructor, etc.) to interact with the welding
torch 14
and/or to provide inputs to the welding torch 14. For example, the user
interface 60 may
include buttons, switches, touch screens, touchpads, scanners, and so forth.
The inputs
provided to the welding torch 14 by the welding operator may be provided to
the
computer 18. For example, the inputs provided to the welding torch 14 may be
used to
control welding software being executed by the computer 18. As such, the
welding
operator may use the user interface 60 on the welding torch 14 to navigate the
welding
software screens, setup procedures, data analysis, welding courses, make
selections
within the welding software, configure the welding software, and so forth.
Thus, the
welding operator can use the welding torch 14 to control the welding software
(e.g., the
welding operator does not have to put down the welding torch 14 to use a
different input
device). The welding torch 14 also includes visual indicators 61, such as a
display 62 and
LEDs 64. The visual indicators 61 may be configured to indicate or display
data and/or
images corresponding to a weld, welding training, and/or welding software. For
example,
the visual indicators 61 may be configured to indicate a welding torch
orientation, a
welding torch travel speed, a welding torch position, a contact tip to
workpiece distance,
an aim of the welding torch 14, training information for the welding operator,
and so
forth. Moreover, the visual indicators 61 may be configured to provide visual
indications
before a weld, during a weld, and/or after a weld. In certain embodiments, the
LEDs 64
may illuminate to facilitate their detection by the sensing device 16. In such
embodiments, the LEDs 64 may be positioned to enable the sensing device 16 to
13
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
determine a position and/or an orientation of the welding torch 14 based on a
spatial
position of the LEDs 64. Each LED 64 may emit light in the visible, infrared,
or
ultraviolet spectrum, or a combination thereof.
[0097] As may be appreciated, FIG. 71 illustrates an embodiment of the aim
of the
welding torch 14. Where a wire electrode 174 extends along an axis 53 of the
torch 14, a
projected line 55 along the axis 53 extending from the wire electrode
intersects the
workpiece 82 at an intersection point 57. As utilized herein, the term "aim"
may be
defined as the shortest distance 59 along the workpiece 82 between the
intersection point
57 and a center 63 of a joint 67 of the workpiece 82.
[0098] Returning to FIG. 2, in certain embodiments, the welding torch 14
includes
power conversion circuitry 66 configured to receive power from the power
distribution
assembly 46, the computer 18, or another device, and to convert the received
power for
powering the welding torch 14. In certain embodiments, the welding torch 14
may
receive power that is already converted and/or does not utilize power
conversion.
Moreover, in some embodiments, the welding torch 14 may be powered by a
battery or
any suitable powering mechanism. The welding torch 14 also includes a
communication
interface 68 (e.g., RS-232 driver) to facilitate communication between the
welding torch
14 and the computer 18. Accordingly, inputs provided to the welding torch 14
may be
provided to the computer 18.
[0099] The welding torch 14 includes a trigger 70 configured to
mechanically actuate
a trigger switch 72 between an open position (as illustrated) and a closed
position. The
trigger 70 provides a conductor 71 to carry a signal to the control circuitry
52 to indicate
whether the trigger switch 72 is in the open position or the closed position.
The wire
feeder 30, the welding power supply 28, and/or the computer 18 may determine
whether
there is continuity through the welding torch 14 across a first trigger
conductor 74 and a
second trigger conductor 76. The trigger switch 72 is electrically coupled
between the
first trigger conductor 74 and the second trigger conductor 76. Continuity
across the first
trigger conductor 74 and the second trigger conductor 76 may be determined by
applying
a voltage across the conductors 74 and 76, applying a current across the
conductors 74
and 76, measuring a resistance across the conductors 74 and 76, and so forth.
In certain
embodiments, portions of the first trigger conductor 74 and/or portions of the
second
trigger conductor 76 may be disposed within a connector of the welding torch
14.
Furthermore, in certain embodiments, the arrangement of switches and/or
conductors
within the welding torch 14 may be different than illustrated in FIG. 2.
14
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00100] The welding power supply 28 may determine whether to enable welding
power
to flow through the welding torch 14 based on whether there is continuity
across the
conductors 74 and 76. For example, the welding power supply 28 may enable
welding
power to flow through the welding torch 14 while there is continuity across
the
conductors 74 and 76, and the welding power supply 28 may block welding power
from
flowing through the welding torch 14 while there is an open circuit across the
conductors
74 and 76. Furthermore, the wire feeder 30 may provide welding wire to the
welding
torch 14 while there is continuity across the conductors 74 and 76, and may
block
welding wire from being provided to the welding torch 14 while there is an
open circuit
across the conductors 74 and 76. Moreover, the computer 18 may use the
continuity
across the conductors 74 and 76 and/or the position of the trigger 70 or
trigger switch 72
to start and/or stop a welding operation, a welding simulation, data
recording, and so
forth.
[00101] With the trigger switch 72 in the open position, there is an open
circuit across
the conductors 74 and 76, thus, the open position of the trigger switch 72
blocks electron
flow between the conductors 74 and 76. Accordingly, the welding power supply
28 may
block welding power from flowing through the welding torch 14 and the wire
feeder 30
may block welding wire from being provided to the welding torch 14. Pressing
the
trigger 70 directs the trigger switch 72 to the closed position where the
trigger switch 72
remains as long as the trigger 70 is pressed. With the trigger switch 72 in
the closed
position, there is continuity between the first trigger conductor 74 and a
conductor 77
electrically connected to the trigger switch 72 and a training switch 78.
[00102] The training switch 78 is electrically coupled between the first
trigger
conductor 74 and the second trigger conductor 76. Moreover, the training
switch 78 is
electrically controlled by the control circuitry 52 to an open position or to
a closed
position. In certain embodiments, the training switch 78 may be any suitable
electrically
controlled switch, such as a transistor, relay, etc. The control circuitry 52
may selectively
control the training switch 78 to the open position or to the closed position.
For example,
while welding software of the welding system 10 is operating in a live-arc
mode, the
control circuitry 52 may be configured to control the training switch 78 to
the closed
position to enable a live welding arc while the trigger 70 is pressed. In
contrast, while
welding software of the welding system 10 is operating in any mode other than
the live-
arc mode (e.g., simulation, virtual reality, augmented reality, etc.), the
control circuitry 52
may be configured to control the training switch 78 to the open position to
block a live
welding arc (by blocking electron flow between the conductors 74 and 76).
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00103] In certain embodiments, the training switch 78 may default to the open
position, thereby establishing an open circuit across the conductors 74 and
76. As may be
appreciated, while the training switch 78 is in the open position, there will
be an open
circuit across the conductors 74 and 76 regardless of the position of the
trigger switch 72
(e.g., electron flow between the conductors 74 and 76 is blocked by the open
position of
the training switch 78). However, while the training switch 78 is controlled
to the closed
position, and the trigger switch 72 is in the closed position, conductivity is
established
between the conductors 74 and 76 (e.g., electron flow between the conductors
74 and 76
is enabled). Accordingly, the welding power supply 28 may enable welding power
to
flow through the welding torch 14 only while the training switch 78 is in the
closed
position and while the trigger switch 72 is in the closed position. For
example, welding
power may flow from the welding power supply 28, through a weld cable 80, the
welding
torch 14, a workpiece 82, and return to the welding power supply 28 via a work
cable 84
(e.g., electrode-negative, or straight polarity). Conversely, welding power
may flow from
the welding power supply 28, through the work cable 84, the workpiece 82, the
welding
torch 14, and return to the welding power supply 28 via the weld cable 80
(e.g., electrode-
positive, or reverse polarity).
[00104] As may be appreciated, the training switch 78 may be physically
located in any
suitable portion of the welding system 10, such as the computer 18, and so
forth.
Furthermore, in certain embodiments, the functionality of the training switch
78 may be
replaced by any suitable hardware and/or software in the welding system 10.
[00105] FIG. 2A is a schematic diagram of an embodiment of circuitry of the
welding
torch 14 of FIG. 1. In the illustrated embodiment, the trigger switch 72
selectively
connects a power supplying conductor (e.g., voltage source, etc.) to the
conductor 71.
Accordingly, while the trigger switch 72 is open, no voltage is applied to the
conductor
71, and while the trigger switch 72 is closed, voltage from the power
supplying conductor
is supplied to the conductor 71. A trigger enable signal (e.g., TRIGGER_EN)
may be
provided by the control circuitry 52 to selectively control the training
switch 78, and
thereby control a feeder enable switch 85. For example, when the trigger
enable signal
controls the training switch 78 to an open position, no voltage is applied to
the feeder
enable switch 85 (e.g., via the FEEDER_EN connection), thereby maintaining the
feeder
enable switch 85 in the open position. Conversely, when the trigger enable
signal
controls the training switch 78 to a closed position, voltage is applied to
the feeder enable
switch 85, thereby controlling the feeder enable switch 85 to the closed
position. With
the feeder enable switch 85 in the closed position, conductivity between the
conductors
16
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
74 and 76 is established. While one example of welding torch 14 circuitry is
provided,
any suitable circuitry may be used within the welding torch 14. A
microprocessor of the
control circuitry 52 may pulse the trigger enable signal at predetermined
intervals to
provide an indication to detection circuitry of the control circuitry 52 that
the trigger
enable signal is working properly. If the detection circuitry does not detect
the trigger
enable signal, the trigger may not be enabled.
[00106] FIG. 3 is a perspective view of an embodiment of the welding torch 14
of
FIGS. 1 and 2. As illustrated, the user interface 60 includes multiple buttons
86 which
may be used to provide inputs to the welding torch 14. For example, the
buttons 86 may
enable a welding operator to navigate through welding software. Furthermore,
the
welding torch 14 includes the display 62 which may show the welding operator
data
corresponding to the welding software, data corresponding to a welding
operation, and so
forth. As illustrated, the LEDs 64 may be positioned at various locations on
the welding
torch 14. Accordingly, the LEDs 64 may be illuminated to facilitate detection
by the
sensing device 16. As discussed in detail below, one or more sets of LEDs 64
may be
arranged on the welding torch 14 to facilitate detection by the sensing device
16
regardless of the position of the welding torch in the welding environment.
For example,
one or more sets of LEDs 64 may be arranged about the welding torch 14 and
oriented
(e.g., centered) in directions that enable the sensing device 16 to detect the
position and
orientation of the welding torch 14 in a flat welding position, a horizontal
welding
position, a vertical welding position, and an overhead position. Moreover, the
one or
more sets of LEDs 64 may enable the sensing device 16 to substantially
continuously
detect the movement of the welding torch 14 between various welding positions
in the
welding environment prior to initiating a welding process, movement of the
welding torch
during a welding process, and movement of the welding torch after completing a
welding
process, or any combination thereof. In some embodiments, a scanning device
65, such
as a finger print scanner, may be arranged on the welding torch 14. The
scanning device
65 may be a part of the operator identification system 43. The operator may
utilize the
scanning device 65 to provide identification information to the operator
identification
system 43 of the welding system 10. For example, the operator may scan a
finger before
and/or after performing a weld process to facilitate verification that the
identified operator
performed the weld process. In some embodiments, the operator may utilize the
scanning
device 65 within a relatively brief window (e.g., approximately 3, 5, 10, or
15 seconds) of
initiating or completing a weld process to verify the identity of the
operator. That is, the
welding system 10 and/or the welding torch 14 may lock out the operator from
initiating
or completing a weld process if the weld process is not initiated within the
brief window
17
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
after verification of the identity of the operator. Accordingly, the operator
identification
system 43 may be utilized to reduce or eliminate instances in which the
performance of a
given weld process by a second operator and the associated weld data from the
given
weld process is erroneously attributed to a first operator that did not
perform the given
weld process.
[00107] FIG. 4 is a perspective view of an embodiment of the stand 12 of FIG.
1. The
stand 12 includes a welding surface 88 on which live welds (e.g., real welds,
actual
welds) and/or simulated welds may be performed. Legs 90 provide support to the
welding surface 88. In certain embodiments, the welding surface 88 may include
slots 91
to aid a welding operator in positioning and orienting the workpiece 82. In
certain
embodiments, the position and orientation of the workpiece 82 may be provided
to
welding software of the welding system 10 to calibrate the welding system 10.
For
example, a welding operator may provide an indication to the welding software
identifying which slot 91 of the welding surface 88 the workpiece 82 is
aligned with.
Furthermore, a predefined welding assignment may direct the welding operator
to align
the workpiece 82 with a particular slot 91. In certain embodiments, the
workpiece 82
may include an extension 92 configured to extend into one or more of the slots
91 for
alignment of the workpiece 82 with the one or more slots 91. As may be
appreciated,
each of the slots 91 may be positioned at a location corresponding to a
respective location
defined in the welding software.
[00108] The welding surface 88 includes a first aperture 93 and a second
aperture 94.
The first and second apertures 93 and 94 may be used together to determine a
position
and/or an orientation of the welding surface 88. As may be appreciated, in
certain
embodiments at least three apertures may be used to determine the position
and/or the
orientation of the welding surface 88. In some embodiments, more than three
apertures
may be used to determine the position and/or the orientation of the welding
surface 88.
The first and second apertures 93 and 94 may be positioned at any suitable
location on the
welding surface 88, and may be any suitable size. In certain embodiments, the
position
and/or orientation of the welding surface 88 relative to the sensing device 16
may be
calibrated using the first and second apertures 93 and 94. For example, as
described in
greater detail below, a calibration device configured to be sensed by the
sensing device 16
may be inserted into the first aperture 93, or touched to the first aperture
93. While the
calibration device is inserted into, or touching, the first aperture 93, a
user input provided
to the welding software (or other calibration software) may indicate that the
calibration
device is inserted into the first aperture 93. As a result, the welding
software may
18
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
establish a correlation between a first data set (e.g., calibration data)
received from the
sensing device 16 (e.g., position and/or orientation data) at a first time and
the location of
first aperture 93. The calibration device may next be inserted into the second
aperture 94,
or touched to the second aperture 94. While the calibration device is inserted
into, or
touching, the second aperture 94, a user input provided to the welding
software may
indicate that the calibration device is inserted into the second aperture 94.
As a result, the
welding software may establish a correlation between a second data set (e.g.,
calibration
data) received from the sensing device 16 at a second time and the location of
second
aperture 94. Thus, the welding software may be able to calibrate the position
and/or
orientation of the welding surface 88 relative to the sensing device 16 using
the first data
set received at the first time and the second data set received at the second
time.
[00109] The welding surface 88 also includes a first marker 95 and a second
marker 96.
The first and second markers 95 and 96 may be used together to determine a
position
and/or an orientation of the welding surface 88. As may be appreciated, in
certain
embodiments at least three markers may be used to determine the position
and/or the
orientation of the welding surface 88. In some embodiments, more than three
markers
may be used to determine the position and/or the orientation of the welding
surface 88.
The first and second markers 95 and 96 may be formed from any suitable
material.
Moreover, in certain embodiments, the first and second markers 95 and 96 may
be built
into the welding surface 88, while in other embodiments, the first and second
markers 95
and 96 may be attached to the welding surface 88. For example, the first and
second
markers 95 and 96 may be attached to the welding surface 88 using an adhesive
and/or
the first and second markers 95 and 96 may be stickers (e.g., tape). The first
and second
markers 95 and 96 may have any suitable shape, size, and/or color.
Furthermore, in
certain embodiments, the first and second markers 95 and 96 may be a reflector
(e.g.,
retroreflector) formed from a reflective material. The first and second
markers 95 and 96
may be used by the welding system 10 to calibrate the position and/or
orientation of the
welding surface 88 relative to the sensing device 16 without a separate
calibration device.
Accordingly, the first and second markers 95 and 96 are configured to be
detected by the
sensing device 16. In certain embodiments, the first and second markers 95 and
96 may
be positioned at predetermined locations on the welding surface 88.
Furthermore, the
welding software may be programmed to use the predetermined locations to
determine
the position and/or the orientation of the welding surface 88. In other
embodiments, the
location of the first and second markers 95 and 96 may be provided to the
welding
software during calibration. With the first and second markers 95 and 96 on
the welding
surface 88, the sensing device 16 may sense the position and/or orientation of
the first and
19
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
second markers 95 and 96 relative to the sensing device 16. Using this sensed
data in
conjunction with the location of the first and second markers 95 and 96 on the
welding
surface 88, the welding software may be able to calibrate the position and/or
orientation
of the welding surface 88 relative to the sensing device 16. In some
embodiments, the
welding surface 88 may be removable and/or reversible. In such embodiments,
the
welding surface 88 may be flipped over, such as if the welding surface 88
become worn.
[00110] In the illustrated embodiment, the workpiece 82 includes a first
marker 98 and
a second marker 99. The first and second markers 98 and 99 may be used
together to
determine a position and/or an orientation of the workpiece 82. As may be
appreciated, at
least two markers are used to determine the position and/or the orientation of
the
workpiece 82. In certain embodiments, more than two markers may be used to
determine
the position and/or the orientation of the workpiece 82. The first and second
markers 98
and 99 may be formed from any suitable material. Moreover, in certain
embodiments, the
first and second markers 98 and 99 may be built into the workpiece 82, while
in other
embodiments, the first and second markers 98 and 99 may be attached to the
workpiece
82. For example, the first and second markers 98 and 99 may be attached to the
workpiece 82 using an adhesive and/or the first and second markers 98 and 99
may be
stickers. As a further example, the first and second markers 98 and 99 may be
clipped or
clamped onto the workpiece 82. The first and second markers 98 and 99 may have
any
suitable shape, size, and/or color. Furthermore, in certain embodiments, the
first and
second markers 98 and 99 may be a reflector (e.g., retroreflector) formed from
a
reflective material. The first and second markers 98 and 99 may be used by the
welding
system 10 to calibrate the position and/or orientation of the workpiece 82
relative to the
sensing device 16 without a separate calibration device. Accordingly, the
first and second
markers 98 and 99 are configured to be detected by the sensing device 16. In
certain
embodiments, the first and second markers 98 and 99 may be positioned at
predetermined
locations on the workpiece 82. Furthermore, the welding software may be
programmed
to use the predetermined locations to determine the position and/or the
orientation of the
workpiece 82. In other embodiments, the location of the first and second
markers 98 and
99 may be provided to the welding software during calibration. With the first
and second
markers 98 and 99 on the workpiece 82, the sensing device 16 may sense the
position
and/or orientation of the first and second markers 98 and 99 relative to the
sensing device
16. Using this sensed data in conjunction with the location of the first and
second
markers 98 and 99 on the workpiece 82, the welding software may be able to
calibrate the
position and/or orientation of the workpiece 82 relative to the sensing device
16. While
the markers 95, 96, 98, and 99 have been described herein as being detected by
the
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
sensing device 16, in certain embodiments, the markers 95, 96, 98, and 99 may
indicate
locations where a calibration device is to be touched for calibration using
the calibration
device, as described previously.
[00111] The stand 12 includes a first arm 100 extending vertically from the
welding
surface 88 and configured to provide support for the sensing device 16 and the
display 32.
A knob 101 is attached to the first arm 100 and may be used to adjust an
orientation of the
sensing device 16 relative to the first aim 100. For example, as the knob 101
is adjusted,
mechanical components extending through the first arm 100 may adjust an angle
of the
sensing device 16. The display 32 includes a cover 102 to protect the display
32 from
welding emissions that may occur during a live welding operation. The cover
102 may be
made from any suitable material, such as a transparent material, a polymer,
and so forth.
By using a transparent material, a welding operator may view the display 32
while the
cover 102 is positioned in front of the display 32, such as before, during,
and/or after a
welding operation. The sensing device 16 may include a camera 104 coupled to
the first
arm 100 for recording welding operations. In certain embodiments, the camera
104 may
be a high dynamic range (HDR) camera. Furthermore, the sensing device 16 may
include
an emitter 105 coupled to the first arm 100. The emitter 105 may be used to
calibrate the
position and/or orientation of the welding surface 88 relative to the sensing
device 16.
For example, the emitter 105 may be configured to emit a visible pattern onto
the welding
surface 88, the workpiece 82, the welding torch 14, or the operator, or any
combination
thereof. That is, the pattern emitted by the emitter 105 is visible to the
camera 104. The
emitter 105 may emit the visible pattern at a desired wavelength, such as a
wavelength in
the infrared, visible, or ultraviolet spectrum (e.g., approximately 1 mm to
120 nm). The
visible pattern may be shown onto the welding surface 88 and/or the workpiece
82.
Furthermore, the visible pattern may be detected by the sensing device 16 to
calibrate the
position and/or the orientation of the welding surface 88 relative to the
sensing device 16.
For example, based on particular features of the visible pattern alignments
and/or
orientations may be determined by the sensing device 16 and/or the welding
software.
Moreover, the visible pattern emitted by the emitter 105 may be used to
facilitate
positioning of the workpiece 82 on the welding surface 88. As discussed in
greater detail
below, the visible pattern may be detected by the sensing device 16 (e.g.,
camera 104) to
determine a shape (e.g., tube, S-shape, I-shape, U-shape) of the workpiece 82,
the
operator, or position of the welding torch 14 prior to welding. In some
embodiments, the
visible pattern may be detected by the sensing device 16 during welding to
detect
workpiece 82, the operator, the welding torch 14, or any combination thereof.
21
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00112] In some embodiments, the one or more sensing devices 16 of the stand
12 may
include a second camera 109 coupled to a third arm 107 for recording welding
operations
in a similar manner to the camera 104. Furthermore, a second emitter 113
coupled to the
third arm 107 may emit a visible pattern onto the welding surface 88, the
workpiece 82,
the welding torch 14, or the operator, or any combination thereof. The second
emitter
113 may emit the visible pattern at a desired wavelength, such as a wavelength
in the
infrared, visible, or ultraviolet spectrum. The visible pattern emitted from
the second
emitter 113 may be approximately the same wavelength or a different wavelength
than
the visible pattern emitted by the emitter 105. As may be appreciated, the
second camera
109 and the second emitter 113 may be positioned to have a different
orientation (e.g.,
perpendicular, greater than approximately 5, 10, 20, 30, 45, 50, 60, 75, or 80
or degrees or
more) relative to the workpiece 82 than the camera 104 and the emitter 105,
thereby
enabling the determination of the shape of the workpiece 82, the position of
the operator,
or the position of the welding torch 14 in the event that the sensing device
16 of either
arm 100, 107 is obscured from view of a portion of the welding environment. In
some
embodiments, the sensing devices 16 may include multiple sets of cameras and
emitters
arranged at various points about the welding environment on or off the stand
12 to
facilitate the monitoring of the position and movement of objects in the
welding
environment if one or more sensing devices are obscured from view of the
welding
environment. As discussed in greater detail below, the receiver (e.g., camera
104) and the
emitter 105 may be integrated with the welding helmet 41, thereby enabling the
training
system 10 to monitor the position and/or orientation of the welding torch 14
and the
workpiece relative to the welding helmet 41.
[00113] The stand 12 also includes a second arm 106 extending vertically from
the
welding surface 88 and configured to provide support for a welding plate 108
(e.g.,
vertical welding plate, horizontal welding plate, overhead welding plate,
etc.). The
second arm 106 may be adjustable to facilitate overhead welding at different
heights.
Moreover, the second arm 106 may be manufactured in a number of different ways
to
facilitate overhead welding at different heights. The welding plate 108 is
coupled to the
second arm 106 using a mounting assembly 110. The mounting assembly 110
facilitates
rotation of the welding plate 108 as illustrated by arrow 111. For example,
the welding
plate 108 may be rotated from extending generally in the horizontal plane
(e.g., for
overhead welding), as illustrated, to extend generally in the vertical plane
(e.g., for
vertical welding). The welding plate 108 includes a welding surface 112. The
welding
surface 112 includes slots 114 that may aid a welding operator in positioning
the
workpiece 82 on the welding surface 112, similar to the slots 91 on the
welding surface
22
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
88. In certain embodiments, the position of the workpiece 82 may be provided
to welding
software of the welding system 10 to calibrate the welding system 10. For
example, a
welding operator may provide an indication to the welding software identifying
which
slot 114 of the welding surface 112 the workpiece 82 is aligned with.
Furthermore, a
predefined welding assignment may direct the welding operator to align the
workpiece 82
with a particular slot 114. In certain embodiments, the workpiece 82 may
include an
extension configured to extend into one or more of the slots 114 for alignment
of the
workpiece 82 with the one or more slots 114. As may be appreciated, each of
the slots
114 may be positioned at a location corresponding to a respective location
defined in the
welding software.
[00114] The welding surface 112 also includes a first marker 116 and a second
marker
118. The first and second markers 116 and 118 may be used together to
determine a
position and/or an orientation of the welding surface 112. As may be
appreciated, at least
two markers are used to determine the position and/or the orientation of the
welding
surface 112. In certain embodiments, more than two markers may be used to
determine
the position and/or the orientation of the welding surface 112. The first and
second
markers 116 and 118 may be formed from any suitable material. Moreover, in
certain
embodiments, the first and second markers 116 and 118 may be built into the
welding
surface 112 (or another part of the welding plate 108), while in other
embodiments, the
first and second markers 116 and 118 may be attached to the welding surface
112 (or
another part of the welding plate 108). For example, the first and second
markers 116 and
118 may be attached to the welding surface 112 using an adhesive and/or the
first and
second markers 116 and 118 may be stickers (e.g., tape). As a further example,
the first
and second markers 116 and 118 may be clipped or clamped onto the welding
surface
112. In some embodiments, the first and second markers 116 and 118 may be
integrated
into a holding clamp that is clamped onto a welding coupon. The first and
second
markers 116 and 118 may have any suitable shape, size, and/or color.
Furthermore, in
certain embodiments, the first and second markers 116 and 118 may be a
reflector (e.g.,
retroreflector) formed from a reflective material.
[00115] The first and second markers 116 and 118 may be used by the welding
system
to calibrate the position and/or orientation of the welding surface 112
relative to the
sensing device 16 without a separate calibration device. Accordingly, the
first and second
markers 116 and 118 are configured to be detected by the sensing device 16. In
certain
embodiments, the first and second markers 116 and 118 may be positioned at
predetermined locations on the welding surface 112. Furthermore, the welding
software
23
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
may be programmed to use the predetermined locations to determine the position
and/or
the orientation of the welding surface 112. In other embodiments, the location
of the first
and second markers 116 and 118 may be provided to the welding software during
calibration. With the first and second markers 116 and 118 on the welding
surface 112,
the sensing device 16 may sense the position and/or orientation of the first
and second
markers 116 and 118 relative to the sensing device 16. Using this sensed data
in
conjunction with the location of the first and second markers 116 and 118 on
the welding
surface 112, the welding software may be able to calibrate the position and/or
orientation
of the welding surface 112 relative to the sensing device 16. Furthermore, the
sensing
device 16 may sense and/or track the first and second markers 116 and 118
during a weld
to account for any movement of the welding plate 108 that may occur during the
weld.
While the markers 116 and 118 have been described herein as being detected by
the
sensing device 16, in certain embodiments, the markers 116 and 118 may
indicate
locations where a calibration device is to be touched or inserted for
calibration using the
calibration device, as described previously.
[00116] FIG. 5 is a perspective view of an embodiment of a calibration device
120. In
some embodiments, the calibration device 120 is shaped like a torch and may be
used for
calibrating the position and/or orientation of the welding surfaces 88 and 112
relative to
the sensing device 16. In other embodiments, the calibration device 120 may be
used for
calibrating the position and/or orientation of a welding joint. The
calibration device 120
includes a handle 122 and a nozzle 124. The nozzle 124 includes a pointed end
126 that
may be used to touch a location for calibration and/or to be inserted into an
aperture for
calibration. The calibration device 120 also includes a user interface 128
that enables the
welding operator to provide input corresponding to a time that the calibration
device 120
is touching a location for calibration and/or is being inserted into an
aperture for
calibration. Moreover, in certain embodiments, the calibration device 120
includes
markers 130 configured to be sensed by the sensing device 16. As illustrated,
the markers
130 extend from the calibration device 120. However, in other embodiments, the
markers
130 may not extend from the calibration device 120. The markers 130 may be any
suitable marker configured to be detected by the sensing device 16 (e.g.,
camera).
Moreover, the markers 130 may be any suitable size, shape, and/or color.
[00117] During calibration, the sensing device 16 may sense a position of the
calibration device 120 and/or an orientation of the calibration device 120.
The position
and/or orientation of the calibration device 120 may be used by the welding
software to
determine a position and/or orientation of one or more of the welding surfaces
88 and 112
24
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
relative to the sensing device 16, a position and/or orientation of the
workpiece 82
relative to the sensing device 16, a position and/or orientation of a fixture
relative to the
sensing device 16, and so forth. Thus, the calibration device 120 may
facilitate
calibration of the welding system 10. In some embodiments, a tray may be
positioned
beneath the welding surface 88 for storing the calibration device 120.
Moreover, in
certain embodiments live welding may be disabled if the calibration device 120
is able to
be tracked by the sensing device 16 (e.g., to block spatter from contacting
the calibration
device 120).
[00118] FIG. 6 is a perspective view of an embodiment of a fixture assembly
132. The
fixture assembly 132 may be positioned on the welding surface 88 and/or the
welding
surface 112, and may secure the workpiece 82 thereon. In certain embodiments,
the
fixture assembly 132 may be configured to align with one or more of the slots
92 and 114.
In other embodiments, the fixture assembly 132 may be placed at any location
on the
welding surface 88 and/or the welding surface 122. The fixture assembly 132
also
includes a first marker 134 and a second marker 136. The first and second
markers 134
and 136 may be used together to determine a position and/or an orientation of
the fixture
assembly 132. As may be appreciated, at least two markers are used to
determine the
position and/or the orientation of the fixture assembly 132. The first and
second markers
134 and 136 may be formed from any suitable material. Moreover, in certain
embodiments, the first and second markers 134 and 136 may be built into the
fixture
assembly 132, while in other embodiments, the first and second markers 134 and
136 may
be attached to the fixture assembly 132. For example, the first and second
markers 134
and 136 may be attached to the fixture assembly 132 using an adhesive and/or
the first
and second markers 134 and 136 may be stickers (e.g., tape). The first and
second
markers 134 and 136 may have any suitable shape, size, and/or color.
Furthermore, in
certain embodiments, the first and second markers 134 and 136 may be a
reflector (e.g.,
retroreflector) formed from a reflective material. The first and second
markers 134 and
136 may be used by the welding system 10 to calibrate the position and/or
orientation of
the fixture assembly 132 relative to the sensing device 16 without a separate
calibration
device. Accordingly, the first and second markers 134 and 136 are configured
to be
detected by the sensing device 16. In certain embodiments, the first and
second markers
134 and 136 may be positioned at predetermined locations on the fixture
assembly 132.
Furthermore, the welding software may be programmed to use the predetermined
locations to determine the position and/or the orientation of the fixture
assembly 132. In
other embodiments, the location of the first and second markers 134 and 136
may be
provided to the welding software during calibration. With the first and second
markers
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
134 and 136 on the fixture assembly 132, the sensing device 16 may sense the
position
and/or orientation of the first and second markers 134 and 136 relative to the
sensing
device 16. Using this sensed data in conjunction with the location of the
first and second
markers 134 and 136 on the fixture assembly 132, the welding software may be
able to
calibrate the position and/or orientation of the fixture assembly 132 relative
to the sensing
device 16. While the first and second markers 134 and 136 have been described
herein as
being detected by the sensing device 16, in certain embodiments, the first and
second
markers 134 and 136 may indicate locations where a calibration device is to be
touched or
inserted for calibration using the calibration device 120, as described
previously.
[00119] In the illustrated embodiment, the fixture assembly 132 is configured
to secure
a lower portion 138 of the workpiece 82 to an upper portion 140 of the
workpiece 82 for
performing a lap weld. In other embodiments, the fixture assembly 132 may be
configured to secure portions of the workpiece 82 for performing a butt weld,
a fillet
weld, and so forth, to aid a welding operator in performing a weld. The
fixture assembly
132 includes vertical arms 142 extending from a base 143. A cross bar 144
extends
between the vertical arms 142, and is secured to the vertical arms 142.
Adjustment
mechanisms 146 (e.g., knobs) may be adjusted to direct locking devices 148
toward the
workpiece 82 for securing the workpiece 82 between the locking devices 148 and
the base
143 of the fixture assembly 132. Conversely, the adjustment mechanisms 146 may
be
adjusted to direct the locking devices 148 away from the workpiece 82 for
removing the
workpiece 82 from being between the locking devices 148 and the base 143.
Accordingly, the workpiece 82 may be selectively secured to the fixture
assembly 132.
[00120] FIG. 7 is a perspective view of a welding wire stickout calibration
tool 150.
The tool 150 is configured to calibrate a length of welding wire extending out
of a torch
nozzle to a selectable length. Accordingly, the tool 150 includes a first
handle 152 and a
second handle 154. The tool 150 also includes a torch nozzle holder 156
attached to a
central portion 157 of the tool 150 and extending outward from the central
portion 157 a
selected distance. In the illustrated embodiment, the torch nozzle holder 156
has a
generally cylindrical body 158 (e.g., cup shape); however, in other
embodiments, the
body 158 of the torch nozzle holder 156 may have any suitable shape. Moreover,
the
torch nozzle holder 156 is configured to receive the torch nozzle through a
nozzle inlet
160 such that the torch nozzle extends into the body 158. Furthermore, the
torch nozzle
holder 156 includes an opening 162 configured to enable welding wire to extend
out the
end of the torch nozzle holder 156, and to block the torch nozzle from
extending through
the opening 162. As the torch nozzle extends into the torch nozzle holder 156,
the
26
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding wire extends out of the opening 162 of the torch nozzle holder 156
toward a
blade assembly 164 of the tool 150. The blade assembly 164 includes one or
more sides
165 and 166 configured to contact the welding wire. In certain embodiments,
both of
sides 165 and 166 include blades to cut opposing sides of the welding wire,
while in other
embodiments, only one of the sides 165 and 166 includes a blade to cut one
side of the
welding wire and the other side includes a surface to which the blade is
directed toward.
For calibrating the length of the welding wire, the welding wire may extend
through the
opening 162 and into the blade assembly 164. The welding wire may be cut to a
selectable length by pressing the first handle 152 and the second handle 154
toward one
another, thereby calibrating the length of wire extending from the torch
nozzle. The
calibration length may be selected using an adjustment mechanism 167 to adjust
a
distance 168 between the blade assembly 164 and the opening 162 of the torch
nozzle
holder 156. Thus, using the tool 150, the length of wire extending from the
torch nozzle
may be calibrated.
[00121] FIG. 8 is a top view of the welding wire stickout calibration tool 150
of FIG. 7.
As illustrated, the welding torch 14 may be used with the tool 150.
Specifically, a nozzle
170 of the welding torch 14 may be inserted into the torch nozzle holder 156
in a
direction 172. Welding wire 174 extending from the welding torch 14 is
directed through
the nozzle inlet 160, the opening 162, and the blade assembly 164.
Accordingly, the first
and second handles 152 and 154 may be pressed together to cut the welding wire
174 to
the distance 168 (e.g., the calibration length) set by the adjustment
mechanism 167.
[00122] FIG. 9 is an embodiment of a method 176 for calibrating wire stickout
from the
welding torch 14. The tool 150 may be used to calibrate the length of welding
wire 174
extending from the nozzle 170 using a variety of methods. In the method 176,
the
adjustment mechanism 167 of the welding wire stickout calibration tool 150 may
be
adjusted for a selected welding wire 174 length (block 178). For example, the
distance
168 of the torch nozzle holder 156 from the tool 150 may be set to a range of
between
approximately 0.5 to 2.0 cm, 1.0 to 3.0 cm, and so forth. The welding torch 14
may be
inserted into the torch nozzle holder 156 of the tool 150, such that the
nozzle 170 of the
welding torch 14 abuts the torch nozzle holder 156, and that the welding wire
174 extends
through the opening 162 of the torch nozzle holder 156 (block 180). In certain
embodiments, the welding wire 174 may be long enough to extend through the
blade
assembly 164. However, if the welding wire 174 does not extend through the
blade
assembly 164, a welding operator may actuate the trigger 70 of the welding
torch 14 to
feed welding wire 174 such that the welding wire 174 extends through the blade
assembly
27
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
164 (block 182). Accordingly, the welding operator may compress handles 152
and 154
of the tool 150 to cut the welding wire 174 extending through the blade
assembly 164 and
thereby calibrate the length of the welding wire 174 (block 184).
[00123] FIG. 10 is a perspective view of an embodiment of a welding consumable
186
having physical marks. The welding consumable 186 may be any suitable welding
consumable, such as a welding stick, welding rod, or a welding electrode. The
welding
consumable 186 includes physical marks 188, 190, 192, 194, 196, 198, 200, 202,
and 204.
The physical marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 may be any
suitable
physical mark. For example, the physical marks 188, 190, 192, 194, 196, 198,
200, 202,
and 204 may include a bar code, an image, a shape, a color, text, a set of
data, and so
forth. In certain embodiments, the physical marks 188, 190, 192, 194, 196,
198, 200,
202, and 204 may be laser etched. Furthermore, in certain embodiments, the
physical
marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 may be visible with the
natural
eye (e.g., within the visible spectrum), while in other embodiments the
physical marks
188, 190, 192, 194, 196, 198, 200, 202, and 204 may not be visible with the
natural eye
(e.g., not within the visible spectrum).
[00124] Each of the physical marks 188, 190, 192, 194, 196, 198, 200, 202, and
204
indicates a location on the welding consumable 186 relative to either a first
end 206, or a
second end 208 of the welding consumable 186. For example, the physical mark
188
may indicate a distance from the first end 206, a distance from the second end
208, or
some other location relative to the welding consumable 186. In certain
embodiments, the
physical marks 188, 190, 192, 194, 196, 198, 200, 202, and 204 may indicate a
number
that corresponds to the first end 206 and/or the second end 208. For example,
the
physical mark 188 may indicate a number "1" indicating that it is the first
physical mark
from the first end 206 and/or the physical mark 188 may indicate a number "9"
indicating
that it is the ninth physical mark from the second end 208. A processing
device may use
a lookup table to determine a distance from the first end 206 or the second
end 208 based
on the number indicated by the physical mark.
[00125] A camera-based detection system, which may include the sensing device
16, or
another type of system is configured to detect the physical marks 188, 190,
192, 194, 196,
198, 200, 202, and 204 during live arc welding or a welding simulation.
Moreover, the
camera-based detection system is configured to determine a remaining length of
the
welding consumable 186, a consumed length of the welding consumable 186, a
rate of
use of the welding consumable 186, a dipping rate of the welding consumable
186, and so
forth, based on the detected physical marks. Accordingly, data corresponding
to use of
28
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
the welding consumable 186 may be tracked by the welding system 10 for
training and/or
analysis.
[00126] FIG. 11 is a perspective view of an embodiment of welding wire 210
having
physical marks 212, 214, 216, and 218. The physical marks 212, 214, 216, and
218 may
be any suitable physical mark. For example, the physical marks 212, 214, 216,
and 218
may include a bar code, an image, a shape, text, a set of data, and so forth.
In certain
embodiments, the physical marks 212, 214, 216, and 218 may be laser etched.
Furthermore, in certain embodiments, the physical marks 212, 214, 216, and 218
may be
visible with the natural eye (e.g., within the visible spectrum), while in
other
embodiments the physical marks 212, 214, 216, and 218 may not be visible with
the
natural eye (e.g., not within the visible spectrum).
[00127] Each of the physical marks 212, 214, 216, and 218 indicates a location
on the
welding wire 210 relative to either a first end 220, or a second end 222 of
the welding
wire 210. For example, the physical mark 212 may indicate a distance from the
first end
220, a distance from the second end 222, or some other location relative to
the welding
wire 210. In certain embodiments, the physical marks 212, 214, 216, and 218
may
indicate a number that corresponds to the first end 220 and/or the second end
222. For
example, the physical mark 212 may indicate a number "1" indicating that it is
the first
physical mark from the first end 220 and/or the physical mark 212 may indicate
a number
"4" indicating that it is the fourth physical mark from the second end 222. A
processing
device may use a lookup table to determine a distance from the first end 220
or the
second end 222 based on the number indicated by the physical mark.
[00128] A camera-based detection system, which may include the sensing device
16, or
another type of system is configured to detect the physical marks 212, 214,
216, and 218
during live arc welding or a welding simulation. Moreover, the camera-based
detection
system is configured to determine a remaining length of the welding wire 210,
a
consumed length of the welding wire 210, a rate of use of the welding wire
210, a dipping
rate of the welding wire 210, and so forth, based on the detected physical
marks.
Accordingly, data corresponding to use of the welding wire 210 may be tracked
by the
welding system 10 for training and/or analysis.
[00129] FIG. 12 is a perspective view of an embodiment of a vertical arm
assembly 223
of the stand 12 of FIG. 4. As illustrated, the sensing device 16 is attached
to the first arm
100. Furthermore, the sensing device 16 includes cameras 224, and an infrared
emitter
226. However, in other embodiments, the sensing device 16 may include any
suitable
number of cameras, emitters, and/or other sensing devices. A pivot assembly
228 is
29
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
coupled to the first arm 100 and to the sensing device 16, and enables an
angle of the
sensing device 16 to be adjusted while the sensing device 16 rotates as
illustrated by
arrow 229. As may be appreciated, adjusting the angle of the sensing device 16
relative
to the first arm 100 changes the field of view of the sensing device 16 (e.g.,
to change the
portion of the welding surface 88 and/or the welding surface 112 sensed by the
sensing
device 16). In some embodiments, the sensing device 16 may be arranged to
observe at
least a portion (e.g., hands, face) of the operator prior to and/or after
completion of a weld
process. Observation of the operator by the sensing device 16, such as by a
camera, may
facilitate operator identification and verification that the identified
operator performed the
observed weld process.
[00130] A cord 230 extends between the knob 101 and the sensing device 16. The
cord
230 is routed through a pulley 232 to facilitate rotation of the sensing
device 16. Thus, a
welding operator may rotate the knob 101 to manually adjust the angle of the
sensing
device 16. As may be appreciated, the combination of the cord 230 and the
pulley 232 is
one example of a system for rotating the sensing device 16. It should be noted
that any
suitable system may be used to facilitate rotation of the sensing device 16.
While one
embodiment of a knob 101 is illustrated, it may be appreciated that any
suitable knob may
be used to adjust the angle of the sensing device 16. Furthermore, the angle
of the
sensing device 16 may be adjusted using a motor 234 coupled to the cord 230.
Accordingly, a welding operator may operate the motor 234 to adjust the angle
of the
sensing device 16. Moreover, in certain embodiments, control circuitry may be
coupled
to the motor 234 and may control the angle of the sensing device 16 based on a
desired
field of view of the sensing device 16 and/or based on tracking of an object
within the
field of view of the sensing device 16.
[00131] FIG. 13 is a perspective view of an embodiment of an overhead welding
arm
assembly 235. The overhead welding arm assembly 235 illustrates one embodiment
of a
manufacturing design that enables the second arm 106 to have an adjustable
height.
Accordingly, as may be appreciated, the second arm 106 may be manufactured to
have an
adjustable height in a number of ways. As illustrated, the overhead welding
assembly
235 includes handles 236 used to vertically raise and/or lower the second arm
106 as
illustrated by arrows 238. The overhead welding arm assembly 235 includes a
locking
device 240 to lock the second arm 106 at a desired height. For example, the
locking
device 240 may include a button that is pressed to disengage a latch
configured to extend
into openings 242, thus unlocking the second arm 106 from being secured to
side rails
243. With the second arm 106 unlocked from the side rails 243, the handles 236
may be
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
vertically adjusted to a desired height, thereby adjusting the plate 112 to a
desired height.
As may be appreciated, releasing the button may result in the latch extending
into the
openings 242 and locking the second arm 106 to the side rails 243. As may be
appreciated, the locking device 240 may operate manually as described and/or
the locking
device 240 may be controlled by a control system (e.g., automatically
controlled).
Furthermore, the second arm 106 may be vertically raised and/or lowered using
the
control system. For example, in certain embodiments, the welding software may
control
the second arm 106 to move to a desired position automatically. Thus, the
plate 112 may
be adjusted to a desired height for overhead welding.
[00132] FIG. 14 is a block diagram of an embodiment of welding software 244
(e.g.,
welding training software) of the welding system 10 having multiple modes. As
illustrated, the welding software 244 may include one or more of a live-arc
mode 246
configured to enable training using a live (e.g., actual) welding arc, a
simulation mode
248 configured to enable training using a welding simulation, a virtual
reality (VR) mode
250 configured to enable training using a VR simulation, and/or an augmented
reality
mode 252 configured to enable training using augmented reality simulation.
[00133] The welding software 244 may receive signals from an audio input 254.
The
audio input 254 may be configured to enable a welding operator to operate the
welding
software 244 using audible commands (e.g., voice activation). Furthermore, the
welding
software 244 may be configured to provide an audio output 256 and/or a video
output
258. For example, the welding software 244 may provide audible information to
a
welding operator using the audio output 256. Such audible information may
include
instructions for configuring (e.g., setting up) the welding system 10, real-
time feedback
provided to a welding operator during a welding operation, instructions to a
welding
operator before performing a welding operation, instructions to a welding
operator after
performing a welding operation, warnings, and so forth.
[00134] FIG. 15 is a block diagram of an embodiment of the VR mode 250 of the
welding software 244. The VR mode 250 is configured to provide a welding
operator
with a VR simulation 260. The VR simulation 260 may be displayed to a welding
operator through a VR headset, VR glasses, a VR display, or any suitable VR
device. In
some embodiments, the display 32 of the helmet 41 of the welding system 10 may
facilitate the VR simulation 260. The VR simulation 260 may be configured to
include a
variety of virtual objects, such as the objects illustrated in FIG. 15, that
enable interaction
between a welding operator and a selected virtual object of the variety of
virtual objects
within the VR simulation 260. For example, virtual objects may include a
virtual
31
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
workpiece 262, a virtual welding stand 264, a virtual welding torch 266,
virtual wire
cutters 268, virtual software configuration 270, virtual training data results
272, and/or a
virtual glove 274.
[00135] In certain embodiments, the welding operator may interact with the
virtual
objects without touching a physical object. For example, the sensing device 16
may
detect movement of the welding operator and may result in similar movements
occurring
in the VR simulation 260 based on the welder operator's movements in the real
world. In
other embodiments, the welding operator may use a glove or the welding torch
14 to
interact with the virtual objects. For example, the glove or the welding torch
14 may be
detected by the sensing device 16, and/or the glove or the welding torch 14
may
correspond to a virtual object in the VR simulation 260. Furthermore, the
welding
operator may be able to operate the welding software 244 within the VR
simulation 260
using the virtual software configuration 270 and/or the virtual training data
results 272.
For example, the welding operator may use their hand, the glove, or the
welding torch 14
to select items within the welding software 244 that are displayed virtually
within the VR
simulation 260. Moreover, the welding operator may perform other actions such
as
picking up wire cutters and cutting virtual welding wire extending from the
virtual torch
266, all within the VR simulation 260.
[00136] FIG. 16 is an embodiment of a method 276 for integrating training
results data,
non-training results data, simulation results data, and so forth. The method
276 includes
the welding software 244 of the computer 18 receiving a first set of welding
data from a
storage device (e.g., storage device 24) (block 278). The first set of welding
data may
include welding data corresponding to a first welding session (e.g., welding
assignment).
The method 276 also includes the welding software 244 receiving a second set
of welding
data from the storage device (block 280). In certain embodiments, the first
set and/or
second set of welding data may be received from a network storage device. The
network
storage device may be configured to receive welding data from and/or to
provide welding
data to the welding system 10 and/or the external welding system 40. The
welding
software 244 may integrate the first and second sets of welding data into a
chart to enable
a visual comparison of the first set of welding data with the second set of
welding data
(block 282). As may be appreciated, the chart may be a bar chart, a pie chart,
a line chart,
a histogram, and so forth. In certain embodiments, integrating the first set
of welding
data with the second set of welding data includes filtering the first set of
welding data and
the second set of welding data to display a subset of the first set of welding
data and a
subset of the second set of welding data. The welding software 244 may provide
the
32
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
chart to a display device (e.g., the display 32) (block 284). In certain
embodiments,
providing the chart to the display device includes providing selectable
elements on the
chart that when selected display data corresponding to a respective selected
element of
the selectable elements (e.g., selecting wire speed from the chart may change
the screen
to display the wire speed history for a particular welding session (e.g.,
welding
assignment)).
[00137] The first set of welding data and/or the second set of welding data
may include
a welding torch orientation, a welding torch travel speed, a welding torch
position, a
contact tip to workpiece distance, an aim of the welding torch, a welding
score, a welding
grade, and so forth. Moreover, the first set of welding data and the second
set of welding
data may correspond to training performed by one welding operator and/or by a
class of
welding operators. Furthermore, the first welding session (e.g., welding
assignment) and
the second welding session (e.g., welding assignment) may correspond to
training
performed by one welding operator and/or by a class of welding operators. In
certain
embodiments, the first welding assignment may correspond to training performed
by a
first welding operator, and the second welding assignment may correspond to
welding
performed by a second welding operator. Moreover, the first assignment and the
second
assignment may correspond to the same welding scenario. Additionally, or in
the
alternative, the first set of welding data and the second set of welding data
may
correspond to welding sessions (e.g., welding assignments) performed by one
welding
operator and/or a class of welding operators outside of a training environment
(e.g.,
production floor).
[00138] FIG. 17 is an embodiment of a chart 285 illustrating multiple sets of
welding
data for a welding operator. The chart 285 may be produced by the welding
software 244
and may be provided to the display 32 to be used by a welding instructor to
review
welding operations performed by a welding student, and/or may be provided to
the
display 32 to be used by a welding student to review welding operations
performed by
that welding student. The chart 285 illustrates a bar graph comparison between
different
sessions (e.g., assignments) of a first set of welding assignments performed
by a welding
operator. The first set of welding sessions (e.g., welding assignments)
includes sessions
(e.g., assignments) 286, 288, 290, 292, and 294. The chart 285 also
illustrates a bar graph
comparison between different assignments of a second set of welding sessions
(e.g.,
welding assignments) performed by the welding operator. The second set of
welding
sessions (e.g., welding assignments) includes sessions (e.g., assignments)
296, 298, 300,
302, and 304. Accordingly, welding sessions (e.g., welding assignments) may be
33
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
compared to one another for analysis, instruction, certification, and/or
training purposes.
As illustrated, the welding sessions (e.g., welding assignments) may be
compared to one
another using one of any number of criteria, such as a total score, a work
angle, a travel
angle, a travel speed, a contact to work distance, an aim, a mode (e.g., live-
arc mode,
simulation mode, etc.), a completion status (e.g., complete, incomplete,
partially
complete, etc.), a joint type (e.g., fillet, butt, T, lap, etc.), a welding
position (e.g., flat,
vertical, overhead, etc.), a type of metal used, a type of filler metal, and
so forth.
[00139] The welding software 244 may associate an operator with welding data
(e.g.,
arc parameters, welding parameters) acquired during a welding session (e.g.,
live arc
welding assignment, simulated welding assignment, and so forth). For example,
the
welding software 244 may identify the welding operator by an operator name
291, an
operator registration number 293, an operator photograph 295, and so forth.
For example,
the operator identification system 43 discussed above with FIG. 1 may be
utilized to
determine the operator registration number 293. That is, each operator
registration
number 293 may correspond to the operator name 291 and a set of identification
information (e.g., resettable information 45, biometric information 47, token
49). In some
embodiments, the registration number 293 may be reset or reassigned to another
operator
after a period (e.g., 1, 3, 5, 10, or more years) of inactivity associated
with the registration
number 293. The registration number 293 may be unique for each operator. In
some
embodiments, the registration number 293 may be retained by the operator for
an
extended period of time (e.g., career, life) regardless of activity level
associated with the
registration number 293. That is, the registration number 293 may be a
permanent
identifier associated with each operator across one welding system 10 or a
network of
welding systems 10 coupled via the network 38. Welding data associated with
the
registration number 293 may be maintained locally or within one or more data
storage
systems, such as a cloud storage system or database of the network 38 coupled
to the
welding system 10. The data storage system 318 (e.g., cloud storage system) of
the
network 38 may be maintained by the manufacturer or another party, thereby
enabling the
welding data associated with a certain registration number 293 to be retained
independent
of an employment status of the operator with the certain registration number
293. For
example, the operator registration number 293 and the data storage system
(e.g., cloud
storage system) may facilitate the retention of welding data associated with
the operator
from weld processes performed during training, during a simulation, during a
first
employment, during a second employment, during personal time, or any
combination
thereof. In some embodiments, welding data stored within the memory 22 or the
storage
24 of the computer 18 of the welding system 10 for a particular welding
operator (e.g.,
34
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
operator registration number 293) may be selectively or automatically
synchronized with
the data storage system (e.g., cloud storage system).
[00140] Weld history data, such as the data of the chart 285, is associated
with each
registration number 293. In some embodiments, the weld history data is
automatically
acquired and stored in the data storage system (e.g., cloud storage system) by
the welding
software 244 of the welding system 10. Additionally, or in the alternative,
weld history
data may be loaded directly to the data storage system (e.g., cloud storage
system) of the
network 38 via a remote computer 44. The welding software 244 may facilitate
access to
the welding history data via a welding history control 297. Additionally, the
welding
software 244 may enable the operator to associate personal information with
the
registration number 293 via a personal user control 299. The operator
associated with the
registration number 293 may input one or more organizations (e.g., training
center,
school, employer, trade organization) with which the operator is affiliated,
experience,
certifications for various welding processes and/or welding positions, a
résumé, or any
combination thereof. Furthermore, the registration umber 293 may remain
associated
with the operator despite changes in affiliated organizations, experience,
certifications, or
any combination thereof
[00141] FIG. 18 is an embodiment of a chart 305 illustrating welding data for
a welder
compared to welding data for a class. For example, the chart 305 illustrates a
score 306
of a welding operator compared to a score 308 (e.g., average, median, or some
other
score) of a class for a first assignment. Furthermore, a score 310 of the
welding operator
is compared to a score 312 (e.g., average, median, or some other score) of the
class for a
second assignment. Moreover, a score 314 of the welding operator is compared
to a score
316 (e.g., average, median, or some other score) of the class for a third
assignment. As
may be appreciated, scores from one or more welding operators may be compared
to
scores of the entire class. Such a comparison enables a welding instructor to
assess the
progress of individual welding students as compared to the class of welding
students.
Furthermore, scores from one or more welding operators may be compared to
scores of
one or more other welding operators. In certain embodiments, scores from one
class may
be compared to scores of another class. Moreover, scores from the first
assignment, the
second assignment, and/or the third assignment may be selected for comparison.
[00142] FIG. 19 is a block diagram of an embodiment of a data storage system
318
(e.g., cloud storage system) for storing welding data 327, such as
certification status data
326. The data storage system 318 may include, but is not limited to, the
computer 18 of
the welding system 10, a remote computer 44 (e.g., server) coupled to the
welding system
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
via the internet or a network 38, or any combination thereof. The
certification status
data may be produced as a welding operator completes various assignments in
the
welding system 10. For example, a predetermined set of assignments may certify
a
welding operator for a particular welding device and/or welding process. The
data
storage system 318 (e.g., cloud storage system) includes control circuitry
320, one or
more memory devices 322, and one or more storage devices 324. The control
circuitry
320 may include one or more processors, which may be similar to the
processor(s) 20.
Furthermore, the memory device(s) 322 may be similar to the memory device(s)
22, and
the storage device(s) 324 may be similar to the storage device(s) 24. The
memory
device(s) 322 and/or the storage device(s) 324 may be configured to store
certification
status data 326 corresponding to a welding certification (e.g., welding
training
certification) of a welding operator.
[00143] The welding data 327 may include any data acquired by the welding
system 10
associated with the registration number 293 of the welding operator (e.g., any
data that is
related to the assignments to certify the welding operator, training welding
data,
simulated welding data, virtual reality welding data, live welding data), any
data related
to an actual certification (e.g., certified, not certified, qualified, not
qualified, etc.), a
quantity of one or more welds performed by the welding operator, a timestamp
for one or
more welds performed by the welding operator, a location and/or facility that
the welding
operator performs the one or more welds, the components of the welding system
utilized
by the welding operator for the one or more welds, the organization with which
the
welding operator is affiliated, the organization for whom the welding operator
is
performing the one or more welds, welding parameter data for one or more welds
performed by the welding operator, a quality ranking of the welding operator,
a quality
level of the welding operator, a history of welds performed by the welding
operator, a
history of production welds performed by the welding operator, a first welding
process
(e.g., a metal inert gas (MIG) welding process, a tungsten inert gas (TIG)
welding
process, a stick welding process, etc.) certification status (e.g., the
welding operator is
certified for the first welding process, the welding operator is not certified
for the first
welding process), a second welding process certification status (e.g., the
welding operator
is certified for the second welding process, the welding operator is not
certified for the
second welding process), a first welding device (e.g., a wire feeder, a power
supply, a
model number, etc.) certification status (e.g., the welding operator is
certified for the first
welding device, the welding operator is not certified for the first welding
device), and/or a
second welding device certification status (e.g., the welding operator is
certified for the
36
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
second welding device, the welding operator is not certified for the second
welding
device).
[00144] The control circuitry 320 may be configured to receive a request for
the first
welding process certification status, the second welding process certification
status, the
first welding device certification status, and/or the second welding device
certification
status of the welding operator. Furthermore, the control circuitry 320 may be
configured
to provide a response to the request. The response to the request may include
the first
welding process certification status, the second welding process certification
status, the
first welding device certification status, and/or the second welding device
certification
status of the welding operator. In certain embodiments, the welding operator
may be
authorized to use a first welding process, a second welding process, a first
welding
device, and/or a second welding device based at least partly on the response.
Furthermore, in some embodiments, the first welding process, the second
welding
process, the first welding device, and/or the second welding device of a
welding system
may be enabled or disabled based at least partly on the response. Moreover, in
certain
embodiments, the first welding process, the second welding process, the first
welding
device, and/or the second welding device of a welding system may be enabled or
disabled
automatically. Thus, a welding operator's certification data may be used to
enable and/or
disable that welding operator's ability to use a particular welding system,
welding device,
and/or welding process. For example, a welding operator may have a
certification for a
first welding process, but not for a second welding process. Accordingly, in
certain
embodiments, a welding operator may verify their identity at a welding system
(e.g., by
logging in, by utilizing the operator identification system 43, providing the
registration
number 293, or some other form of authentication). After the identity of the
welding
operator is verified, the welding system may check the welding operator's
certification
status. The welding system may enable the welding operator to perform
operations using
the first welding process based on the welding operator's certification
status, but may
block the welding operator from performing the second welding process based on
the
welding operator's certification status.
[00145] The storage 324 of the data storage system 318 (e.g., cloud storage
system)
may have welding data 327 of multiple operators. The data storage system 318
may be a
database that retains welding data 327 associated with registration numbers
293 to enable
analysis and tracking of the weld history of the operator over extended
durations (e.g.,
career, lifetime), even across one or more organizations. As may be
appreciated, the data
storage system 318 (e.g., cloud storage system) may facilitate aggregation of
certification
37
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
status data 326 and/or welding data 327 to identify usage trends, anticipate
supply or
maintenance issues, and so forth. Moreover, coupling the data storage system
318 to the
internet or other network 38 enables instructors or managers to monitor and
analyze weld
data remote from the operator and the respective welding system 10.
[00146] FIG. 20 is an embodiment of a screen illustrating data corresponding
to a weld
by an operator identified on the screen by the registration number 293. In
some
embodiments, each weld session (e.g., weld test, assignment) performed by an
operator
and monitored by the welding system 10 is assigned a unique serial number 329.
The
serial number 329 may be associated with the registration number 293 within
one or more
local and/or remote data storage systems, such as a cloud storage system or
database of
the network 38 coupled to the welding system 10. The serial number 329 may be
used to
associate the physical weld sample with the captured weld test results. The
format of the
serial number 329 may include, but is not limited to a decimal number, a
hexadecimal
number, or a character string. Moreover, the serial numbers 329 for the same
assignment
may be different for each operator. In some embodiments, at least a portion of
the serial
number may be based at least in part on specific components of the welding
system 10.
For example, the serial number for assignments completed with a particular
welding
system may have digits corresponding to serial numbers of the particular power
supply
28, the particular wire feeder 30, and/or the particular welding torch 14
utilized for the
welding assignment. In some embodiments, the serial number 329 is affixed to
the
workpiece 82. For example, the serial number 329 may attached to, stamped,
etched,
engraved, embossed, or printed on the workpiece 82. In some embodiments, the
serial
number 329 is encoded as a barcode affixed to the workpiece 82. Additionally,
or in the
alternative, the operator may write the serial number 329 on the workpiece 82.
[00147] As discussed below, a search feature enables an instructor to enter
the serial
number 329 to recall the test results for the associated weld session (e.g.,
weld test,
assignment) without the instructor needing to know the user (e.g.,
registration number
293), the assignment, or any other details about the weld. Accordingly, the
instructor
may review the data corresponding to each serial number 329, then provide
feedback to
the respective operator. The data corresponding to each serial number 329 may
be
reviewed locally via the welding system 10 on which the data was initially
acquired, or
remotely via another welding system 10 or a computer 18 coupled to the data
storage
system 318 with the data stored therein. Furthermore, an inspector or
technician may
review the serial number 329 of a workpiece 82 to aid in a quality review of
the
performed weld relative to welding procedure specifications (WPS) and/or to
determine a
38
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
maintenance schedule related to the workpiece 82. That is, the serial number
329 may be
utilized to track the workpiece 82, the welding data, the arc data, and the
operator (e.g.,
registration number 293) through a life of the respective workpiece 82. In
some
embodiments, the serial number 329 may be stored within one or more local
and/or
remote data storage systems, such as a cloud storage system or database of the
network 38
coupled to the welding system 10. The screen may be produced by the welding
software
244 and may be displayed on the display 32. The screen illustrates parameters
that may
be graphically displayed to a welding operator before, during, and/or after
performing a
welding operation. For example, the parameters may include a work angle 328, a
travel
angle 330, a contact tip to workpiece distance 332, a welding torch travel
speed 334, an
aim of the welding torch in relation to the joint of the workpiece 336, a
welding voltage
337, a welding current 338, a welding torch orientation, a welding torch
position, and so
forth.
[00148] As illustrated, graphically illustrated parameters may include an
indication 339
of a current value of a parameter (e.g., while performing a welding session).
Furthermore, a graph 340 may show a history of the value of the parameter, and
a score
341 may show an overall percentage that corresponds to how much time during
the
welding session that the welding operator was within a range of acceptable
values. In
certain embodiments, a video replay 342 of a welding session may be provided
on the
screen. The video replay 342 may show live video of a welding operator
performing a
real weld, live video of the welding operator performing a simulated weld,
live video of
the welding operator performing a virtual reality weld, live video of the
welding operator
performing an augmented reality weld, live video of a welding arc, live video
of a weld
puddle, and/or simulated video of a welding operation.
[00149] In certain embodiments, the welding system 10 may capture video data
during
a welding session (e.g., welding assignment), and store the video data on the
storage
device 24 and/or the data storage system 318 (e.g., cloud storage system) via
the network
38. Moreover, the welding software 244 may be configured to retrieve the video
data
from the storage device 24 or the data storage system 318, to retrieve welding
parameter
data from the storage device 24 or the data storage system 318, to synchronize
the video
data with the welding parameter data, and to provide the synchronized video
and welding
parameter data to the display 32.
[00150] In some embodiments, the welding system 10 may receive test data from
previously performed welds. Test results 343 based at least in part on the
test data may
be displayed on the screen. Test data may include properties of the performed
welding
39
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
session (e.g., welding assignment), such as strength, porosity, penetration,
hardness, heat
affected zone size, appearance, and contamination, or any combination thereof.
The test
data may be obtained via destructive or non-destructive testing performed
after
completion of the welding session. For example, strength of a weld may be
determined
via a destructive test, whereas the porosity and penetration may be obtained
via non-
destructive testing, such as x-ray or ultrasonic inspection.
[00151] In some embodiments, the welding system 10 may determine the test data
(e.g.,
properties of the welding assignment) based at least in part on welding
parameter data.
Additionally, or in the alternative, the welding system 10 may utilize are
parameter data
to determine the test data. The test data (e.g., properties of the welding
assignment) may
be associated with the welding parameter data and any arc parameter data, such
that the
test data, welding parameter data, and arc parameter data corresponding to the
same
welding session (e.g., welding assignment) are stored together. Where the
welding
session (e.g., welding assignment) is a live welding assignment, the arc
parameters (e.g.,
weld voltage, weld current, wire feed speed) may include measured arc
parameters and/or
set arc parameters. Where the welding session is a simulated, virtual reality,
or
augmented reality welding assignment, the arc parameters may include simulated
arc
parameters. In some embodiments, the arc parameters associated with non-live
welding
sessions (e.g., simulated, virtual reality, augmented reality) may include a
null set stored
in the data storage.
[00152] In some embodiments, the determined properties of the welding session
(e.g.,
welding assignment) are based at least in part on a comparison with welding
data (e.g.,
welding parameters, arc parameters) corresponding to previously performed
welding
sessions. The welding data corresponding to previously performed welding
sessions may
be stored in the data storage system 318. The welding system 10 may determine
(e.g.,
estimate, extrapolate) properties of a simulated welding assignment, a virtual
reality
welding assignment, or an augmented reality welding assignment through
comparison
with welding data (e.g., welding parameters, arc parameters) and associated
test data
corresponding to previously performed live welding session (e.g., live welding
assignments). For example, the welding system 10 may determine the penetration
of a
virtual reality welding assignment through comparison of the welding
parameters (e.g.,
contact tip to work distance, travel speed) of the virtual reality welding
assignment to the
welding parameters associated with previously performed live welding
assignments.
Accordingly, the welding system 10 may facilitate training an operator through
providing
determined one or more properties of the welding assignment despite the
welding
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
assignment (e.g., simulated, virtual reality, augmented reality) being
performed without a
tangible workpiece produced to test.
[00153] The computer 18 of the welding system 10 may determine one or more
properties of the welding session (e.g., welding assignment) via executing
processor-
executable instructions to compare the received welding data with welding data
corresponding to previously performed welding sessions. In some embodiments,
the one
or more properties of the welding session are determined remotely from the
welding
system 10, such as on a remote computer 44 or data storage system 318 coupled
to the
welding system 10 via the network 38. Additionally, or in the alternative, the
one or
more determined properties may be transmitted to the data storage system 318,
such as
via the network 38. In some embodiments, the computer 18 may determine
properties of
the welding session (e.g., welding assignment) while receiving the welding
data
associated with the welding session. That is, the computer 18 may determine
properties
or quality characteristics (e.g., penetration, porosity, strength, appearance)
substantially in
real-time based at least in part on the welding parameters while the operator
is performing
the welding session. The determined properties may be displayed via the
display 32 as
test results. As may be appreciated, the determined properties may be adjusted
upon
obtaining results from testing (e.g., destructive testing, non-destructive
testing) of the
welding session (e.g., welding assignment).
[00154] The welding software 244 may analyze welding parameter data to
determine a
traversed path 344 that may be shown on the display 32. In some embodiments, a
time
during a weld may be selected by a welding operator, as shown by an indicator
346. By
adjusting the selected time indicator 346, the welding operator may view the
video replay
342 and/or the traversed path 344 in conjunction with the welding parameters
as they
were at the selected time in order to establish a correlation between the
welding
parameters, the video replay 342, and/or the traversed path 344. Additionally,
or in the
alternative, the welding operator may select (e.g., via a cursor on the
display 32, manual
selection via a touch screen display 32) a location of the traversed path 344
displayed to
review the welding data 327 corresponding to the one or more times the welding
torch 14
traversed the selected location. Moreover, the video replay 342 may show
frames of
video (e.g., captured images, pictures) corresponding to the selected time 346
and/or
selected location. As may be appreciated, a selected location may correspond
to multiple
frames or captured images when the welding operator utilized a weaving or
whipping
technique and/or when the welding session includes multiple passes.
Accordingly, the
display 32 may show the multiple frames (e.g., captured images, pictures), and
the
41
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding operator may select one or more for additional review. In some
embodiments,
the test results 343 (e.g., one or more determined properties of the welding
assignment)
displayed may correspond to the selected time shown by the indicator 346
and/or to one
or more locations along the traversed path 344. That is, the test results 343
may display
tested characteristics (e.g., porosity, penetration) of the weld corresponding
to the
selected time indicator 346 and/or the selected location along the traversed
path 344. The
welding software 244 may be configured to recreate welding data based at least
partly on
welding parameter data, to synchronize the video replay 342 with the recreated
welding
data, and to provide the synchronized video replay 342 and recreated welding
data to the
display 32. In certain embodiments, the recreated welding data may be weld
puddle data
and/or a simulated weld. In some embodiments, the welding software 244 may
correlate
various aspects (e.g., determined properties, video, non-destructive test
results,
destructive test results) of the weld data acquired for positions along the
traversed path
344 of the weld and/or for selected times during the weld process. The welding
software
244 may facilitate correlation of the welding parameters (e.g., work angle
328, travel
angle 330, CTWD 332, travel speed 334, and aim 336 of the welding torch in
relation to
the joint of the workpiece, a welding torch orientation, a welding torch
position) with arc
parameters (e.g., voltage 337, current 338, wire feed speed), the video replay
342, and test
results 343, or any combination thereof. The weld data associated with the
registration
number 293 for an operator may enable the operator, the instructor, or a
manager, to
review the welding parameters, the arc parameters, the video replay 342, and
the test
results 343 (e.g., determined properties) corresponding to the selected time
indicator 346
and/or position along the traversed path 344 of the weld process. For example,
the
operator may review the weld data to identify relationships between changes in
the
welding parameters (e.g., work angle 328, CTWD 332) and changes to the arc
parameters
(e.g., current, voltage) at the selected time shown by the indicator 346 or a
selected
position. Moreover, the operator may review the weld data to identify
relationships
between changes in the welding parameters and changes to the test results 343
of the
weld.
[00155] In some embodiments, the welding torch 14 (e.g., M IG welding torch,
stick
electrode holder, TIG torch) may be utilized as a pointer, where pointing the
welding
torch 14 at a specific location of the weld displays weld data 327 on the
display 32
corresponding to the specific location. In some embodiments, the welding torch
14 may
contact the workpiece 82 at the specific location. Moreover, the welding
software 244
may determine the specific location from the operator based on the point along
the weld
that is nearest to where the operator is pointing the welding torch 14 (e.g.,
electrode). The
42
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding software 244 may produce a location bar 346 (e.g., indicator) to be
displayed
along the weld data 327 when the welding torch 14 is pointed at locations
along the weld
upon completion of the session. That is, the location bar may extend across
the graphs of
the welding parameters (e.g., work angle 328, travel angle 330, CTWD 332,
travel speed
334, and aim 336 of the welding torch in relation to the joint of workpiece)
in a similar
manner as the selected time line 346 described above and illustrated in FIG.
20. The
welding software 244 may be configured to display the video replay 342 (e.g.,
one or
more video frames, captured images) that was captured when the welding torch
14 was at
the specific location. For example, the welding software 244 may display
between 0 to
30 frames before and/or after when the welding torch 14 was at the specific
location.
Additionally, or in the alternative, the welding software 244 may display a
cross-sectional
view of the weld at the specific location. The cross-sectional view may be
based on one
or more sets of data including, but not limited to, an x-ray scan, an
ultrasonic scan, a
generated model based at least in part on the welding data 327, or any
combination
thereof. Moreover, the cross-sectional view may enable the welding operator or
an
instructor to review various determined quality characteristics of the weld at
the specific
location, including, but not limited to, porosity, undercut, spatter,
underfill, and overfill.
While the welding torch 14 may be readily used to point to and select specific
locations of
the weld before the workpiece 82 is moved upon completion of the session, the
welding
torch 14 may be used as a pointer for previously completed sessions with moved
workpieccs 82 upon recalibration of respective workpieces 82. Moreover, in
some
embodiments, the calibration tool 610 or another welding device may be used to
point to
and select specific locations of the weld for which various determined quality
characteristics of the weld may be displayed.
[00156] In certain embodiments, the storage device 24 may be configured to
store a
first data set corresponding to multiple welds performed by a welding
operator, and to
store a second data set corresponding to multiple non-training welds performed
by the
welding operator. Furthermore, the control circuitry 320 may be configured to
retrieve at
least part of the first data set from the storage device 24, to retrieve at
least part of the
second data set from the storage device 24, to synchronize the at least part
of the first data
set with the at least part of the second data set, and to provide the
synchronized at least
part of the first data set and at least part of the second data set to the
display 32.
[00157] FIG. 21 is an embodiment of a screen 347 illustrating a discontinuity
analysis
348 of a weld. The discontinuity analysis 348 includes a listing 350 that may
itemize
potential issues with a welding operation. The discontinuity analysis 348
provides
43
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
feedback to the welding operator regarding time periods within the welding
operation in
which the weld does not meet a predetermined quality threshold. For example,
between
times 352 and 354, there is a high discontinuity (e.g., the welding quality is
poor, the
weld has a high probability of failure, the weld is defective). Furthermore,
between times
356 and 358, there is a medium discontinuity (e.g., the welding quality is
average, the
weld has a medium probability of failure, the weld is partially defective).
Moreover,
between times 360 and 362, there is a high discontinuity, and between times
364 and 366,
there is a low discontinuity (e.g., the welding quality is good, the weld has
a low
probability of failure, the weld is not defective). With this information a
welding operator
may be able to quickly analyze the quality of a welding operation.
[00158] FIG. 22 is a block diagram of an embodiment of a welding instructor
screen
368 of the welding software 244. The welding software 244 is configured to
provide
training simulations for many different welding configurations. For example,
the welding
configurations may include a MIG welding process 370, a TIG welding process
372, a
stick welding process 374, the live-arc welding mode 346, the simulation
welding mode
248, the virtual reality welding mode 250, and/or the augmented reality
welding mode
252.
[00159] The welding instructor screen 368 may be configured to enable a
welding
instructor to restrict training of a welding operator 376 (e.g., to one or
more selected
welding configurations), to restrict training of a class of welding operators
378 (e.g., to
one or more selected welding configurations), and/or to restrict training of a
portion of a
class of welding operators 380 (e.g., to one or more selected welding
configurations).
Moreover, the welding instructor screen 368 may be configured to enable the
welding
instructor to assign selected training assignments to the welding operator
382, to assign
selected training assignments to a class of welding operators 384, and/or to
assign
selected training assignments to a portion of a class of welding operators
386.
Furthermore, the welding instructor screen 368 may be configured to enable the
welding
instructor to automatically advance the welding operator (or a class of
welding operators)
from a first assignment to a second assignment 388. For example, the welding
operator
may advance from a first assignment to a second assignment based at least
partly on a
quality of performing the first assignment. Moreover, the welding instructor
screen 368
may be configured to verify the identity of an operator 389 (e.g., to ensure
welding data is
associated with the proper registration number 293). In some embodiments, the
operator
identification system 43 identifies the operator, and the instructor verifies
the identity of
the operator via the welding instructor screen 368. For example, the
instructor may
44
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
provide a verification input (e.g., resettable identifier, biometric
identifier, physical
identifier) to the operator identification system 43 to authorize that the
identity of the
operator is properly recognized by the operator identification system 43. In
some
embodiments, the instructor (e.g., second operator) provides a second
identifier input
(e.g., resettable identifier, biometric identifier, token) to the welding
system 10, such as
via the operator identification system 43, thereby verifying the identity of
the operator
that provided a first identifier input to the operator identification system
43. The second
identifier input may be stored with the welding data (e.g., identity of
operator performing
the welding session), such as in the memory 56 of the computer 18 or the data
storage
system 318). Additionally, or in the alternative, the welding instructor may
verify the
identity of an operator 389 via a two-step identification process in which the
operator
identification system 43 separately identifies both the operator and the
instructor prior to
ensure that welding data is associated with the proper registration number
293.
[00160] FIG. 23 is an embodiment of a method 389 for weld training using
augmented
reality. A welding operator may select a mode of the welding software 244
(block 390).
The welding software 244 determines whether the augmented reality mode 252 has
been
selected (block 392). If the augmented reality mode 252 has been selected, the
welding
software 244 executes an augmented reality simulation. It should be noted that
the
welding operator may be wearing a welding helmet and/or some other headgear
configured to position a display device in front of the welding operator's
view.
Furthermore, the display device may generally be transparent to enable the
welding
operator to view actual objects; however, a virtual welding environment may be
portrayed
on portions of the display device. As part of this augmented reality
simulation, the
welding software 244 receives a position and/or an orientation of the welding
torch 14,
such as from the sensing device 16 (block 394). The welding software 244
integrates the
virtual welding environment with the position and/or the orientation of the
welding torch
14 (block 396). Moreover, the welding software 244 provides the integrated
virtual
welding environment to the display device (block 398). For example, the
welding
software 244 may determine where a weld bead should be positioned within the
welding
operator's field of view, and the welding software 244 may display the weld
bead on the
display device such that the weld bead appears to be on a workpiece. After
completion of
the weld, the augmented reality simulation may enable the welding operator to
erase a
portion of the virtual welding environment (e.g., the weld bead) (block 400),
and the
welding software 244 returns to block 390.
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00161] If the augmented realty mode 252 has not been selected, the welding
software
244 determines whether the live-arc mode 246 has been selected (block 402). If
the live-
arc mode 246 has been selected, the welding software 244 enters the live-arc
mode 246
and the welding operator may perform the live-arc weld (block 404). If the
live-arc mode
246 has not been selected and/or after executing block 404, the welding
software 244
returns to block 390. Accordingly, the welding software 244 is configured to
enable a
welding operator to practice a weld in the augmented reality mode 252, to
erase at least a
portion of the virtual welding environment from the practice weld, and to
perform a live
weld in the live-arc mode 246. In certain embodiments, the welding operator
may
practice the weld in the augmented reality mode 252 consecutively a multiple
number of
times.
[00162] FIG. 24 is an embodiment of another method 406 for weld training using
augmented reality. A welding operator may select a mode of the welding
software 244
(block 408). The welding software 244 determines whether the augmented reality
mode
252 has been selected (block 410). If the augmented reality mode 252 has been
selected,
the welding software 244 executes an augmented reality simulation. It should
be noted
that the welding operator may be wearing a welding helmet and/or some other
headgear
configured to position a display device in front of the welding operator's
view.
Furthermore, the display device may completely block the welding operator's
field of
vision such that images observed by the welding operator have been captured by
a camera
and displayed on the display device. As part of this augmented reality
simulation, the
welding software 244 receives an image of the welding torch 14, such as from
the sensing
device 16 (block 412). The welding software 244 integrates the virtual welding
environment with the image of the welding torch 14 (block 414). Moreover, the
welding
software 244 provides the integrated virtual welding environment with the
image of the
welding torch 14 to the display device (block 416). For example, the welding
software
244 may determine where a weld bead should be positioned within the welding
operator's
field of view and the welding software 244 displays the weld bead on the
display device
with the image of the welding torch 14 and other objects in the welding
environment.
After completion of the weld, the augmented reality simulation may enable the
welding
operator to erase a portion of the virtual welding environment (e.g., the weld
bead) (block
418), and the welding software 244 returns to block 408.
[00163] If the augmented realty mode 252 has not been selected, the welding
software
244 determines whether the live-arc mode 246 has been selected (block 420). If
the live-
arc mode 246 has been selected, the welding software 244 enters the live-arc
mode 246
46
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
and the welding operator may perform the live-arc weld (block 422). If the
live-arc mode
246 has not been selected and/or after executing block 422, the welding
software 244
returns to block 408. Accordingly, the welding software 244 is configured to
enable a
welding operator to practice a weld in the augmented reality mode 252, to
erase at least a
portion of the virtual welding environment from the practice weld, and to
perform a live
weld in the live-arc mode 246. In certain embodiments, the welding operator
may
practice the weld in the augmented reality mode 252 consecutively a multiple
number of
times.
[00164] FIG. 25 is a block diagram of an embodiment of the welding torch 14.
The
welding torch 14 includes the control circuitry 52, the user interface 60, and
the display
62 described previously. Furthermore, the welding torch 14 includes a variety
of sensors
and other devices. The welding torch 14 may include a temperature sensor 424
(e.g.,
thermocouple, thermistor, etc.), an inertial sensor 426 (e.g., accelerometer,
gyroscope,
magnetometer, etc.), a vibration device 428 (e.g., vibration motor), a
microphone 429,
one or more visual indicators 61 (e.g., LEDs 64), or any combination thereof.
In addition,
in certain embodiments, the welding torch 14 may include a voltage sensor 425
and/or a
current sensor 427 to sense voltage and/or current, respectively, of the arc
produced by
the welding torch 14. As discussed in detail below, one or more sets of LEDs
64 may be
arranged about the welding torch 14 to enable the sensing device 16 to detect
the position
and orientation of the welding torch 14 relative to the training stand 12 and
the workpiece
82. For example, sets of LEDs 64 may be arranged on a top side, a left side,
and a right
side of the welding torch 14 to enable the sensing device 16 to detect the
position and
orientation of the welding torch 14 regardless of which side of the welding
torch 14 is
facing the sensing device 16. In certain embodiments, the welding torch 14 may
include
more than one temperature sensor 424, inertial sensor 426, vibration device
428, voltage
sensor 425, current sensor 427, and/or microphone 429.
[00165] During operation, the welding torch 14 may be configured to use the
temperature sensor 424 to detect a temperature associated with the welding
torch 14 (e.g.,
a temperature of electronic components of the welding torch 14, a temperature
of the
display 62, a temperature of a light-emitting device, a temperature of the
vibration device,
a temperature of a body portion of the welding torch 14, etc.). The control
circuitry 52
(or control circuitry of another device) may use the detected temperature to
perform
various events. For example, the control circuitry 52 may be configured to
disable use of
the live-arc mode 246 (e.g., live welding) by the welding torch 14 if the
detected
temperature reaches and/or surpasses a predetermined threshold (e.g., such as
85 C).
47
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
Moreover, the control circuitry 52 may also be configured to disable various
heat
producing devices of the welding torch 14, such as the vibration device 428,
light-
emitting devices, and so forth. The control circuitry 52 may also be
configured to show a
message on the display 62, such as "Waiting for torch to cool down. Sorry for
the
inconvenience." In certain embodiments, the control circuitry 52 may be
configured to
disable certain components or features if the detected temperature reaches a
first threshold
and to disable additional components or features if the detected temperature
reaches a
second threshold.
[00166] Moreover, during operation, the welding torch 14 may be configured to
use the
inertial sensor 426 to detect a motion (e.g., acceleration, etc.) associated
with the welding
torch 14. The control circuitry 52 (or control circuitry of another device)
may use the
detected acceleration to perform various events. For example, the control
circuitry 52
may be configured to activate the display 62 (or another display) after the
inertial sensor
426 detects that the welding torch 14 has been moved. Accordingly, the control
circuitry
52 may direct the display 62 to "wake up," such as from a sleep mode and/or to
exit a
screen saver mode to facilitate a welding operator of the welding torch 14
using a
graphical user interface (GUI) on the display 62. Furthermore, the control
circuitry 52
may utilize feedback from the one or more inertial sensors 426 to determine
the position
of the welding torch 14 in the welding environment and/or the movement of the
welding
torch 14 within the welding environment. As discussed in detail below, the
sensing
devices 16 (e.g., camera) may utilize markers 474 on the torch to determine
the position,
orientation, and/or movement of the welding torch 14 in the welding
environment. In
some embodiments, the control circuitry 52 (or control circuitry of another
device) may
utilize the feedback from the one or more inertial sensors 426 to augment the
determination with the sensing devices 16 of the position, orientation, and/or
movement
of the welding torch 14. That is, the control circuitry 52 may determine the
position and
orientation of the welding torch 14 based on the feedback from the one or more
inertial
sensors 426 when the workpiece 82 or the operator obscures (e.g., blocks) one
or more
markers 474 of the welding torch 14 from the view of the sensing device 16.
[00167] Returning to FIG. 21 for an example, the one or more inertial sensors
426 may
enable the control circuitry 52 to determine the work angle 328, the travel
angle 330, and
the travel speed 334 for an interval between times 360 and 362 when other
sensing
devices 16 may be unable to monitor the position and orientation of the
welding torch 14
for any reason (e.g., one or more markers of a set utilized to optically track
the welding
torch 14 is obscured from a camera). The one or more inertial sensors 426 may
provide
48
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
an output regarding the position and/or the orientation of the welding torch
14 that is
independent of another position detection system (e.g., optical detection
system, magnetic
detection system, acoustic detection system). The control circuitry 52 may
determine the
work angle 328, the travel angle 330, and the travel speed 334 based at least
in part on the
feedback from the one or more inertial sensors 426 of the welding torch 14
with the
assumption that the CTWD 332 and the aim of the welding torch 14 relative to
the joint
of the workpiece 82 are approximately constant for the interval.
[00168] Returning to FIG. 25, in certain embodiments, the control circuitry 52
may be
configured to determine that a high impact event (e.g., dropped, used as a
hammer, etc.)
to the welding torch 14 has occurred based at least partly on the detected
motion. Upon
determining that a high impact event has occurred, the control circuitry 52
may store
(e.g., log) an indication that the welding torch 14 has been impacted. Along
with the
indication, the control circuitry 52 may store other corresponding data, such
as a date, a
time of day, an acceleration, a user name, welding torch identification data,
and so forth.
The control circuitry 52 may also be configured to show a notice on the
display 62 to a
welding operator requesting that the operator refrain from impacting the
welding torch
14. In some embodiments, the control circuitry 52 may be configured to use the
motion
detected by the inertial sensor 426 to enable the welding operator to navigate
and/or make
selections within a software user interface (e.g., welding software, welding
training
software, etc.). For example, the control circuitry 52 may be configured to
receive the
acceleration and to make a software selection if the acceleration matches a
predetermined
pattern (e.g., the acceleration indicates a jerky motion in a certain
direction, the
acceleration indicates that the welding torch 14 is being shaken, etc.).
[00169] The vibration device 428 is configured to provide feedback to a
welding
operator by directing the welding torch 14 to vibrate and/or shake (e.g.,
providing
vibration or haptic feedback). The vibration device 428 may provide vibration
feedback
during live welding and/or during simulated welding. As may be appreciated,
vibration
feedback during live welding may be tuned to a specific frequency to enable a
welding
operator to differentiate between vibration that occurs due to live welding
and the
vibration feedback. For example, vibration feedback may be provided at
approximately
3.5 Hz during live welding. Using such a frequency may enable a welding
operator to
detect when vibration feedback is occurring at the same time that natural
vibration occur
due to live welding. Conversely, vibration feedback may be provided at
approximately 9
Hz during live welding. However, the 9 Hz frequency may be confused with
natural
vibration that occurs due to live welding.
49
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00170] The one or more microphones 429 are configured to facilitate
determination of
the position of the welding torch 14 with a local positioning system. The one
or more
microphones 429 of the welding torch 14 receive emitted signals (e.g.,
ultrasonic, RF)
from beacons disposed at known locations about the welding environment. As may
be
appreciated, a local positioning system enables the determination of a
location of an
object when the object receives the emitted signals (i.e., via unobstructed
line of sight)
from three or more beacons at known positions. The control circuitry 52 (or
control
circuitry of another device) may determine the position of the welding torch
14 from the
received signals via triangulation, trilaterati on , or mu ltilaterati on . In
some embodiments,
the microphones 429 may facilitate the determination of the position of the
welding torch
14 during welding when one or more of the sensing devices 16 (e.g., cameras)
are
obstructed by the workpiece 82 and/or the operator.
[00171] FIG. 26 is an embodiment of a method 430 for providing vibration
feedback to
a welding operator using the welding torch 14. The control circuitry 52 (or
control
circuitry of another device) detects a parameter (e.g., work angle, travel
angle, travel
speed, tip-to-work distance, aim, etc.) corresponding to a welding operation
(block 432).
As may be appreciated, the welding operation may be a live welding operation,
a
simulated welding operation, a virtual reality welding operation, and/or an
augmented
reality welding operation. The control circuitry 52 determines whether the
parameter is
within a first predetermined range (block 434). As may be appreciated, the
first
predetermined range may be a range that is just outside of an acceptable
range. For
example, the parameter may be work angle, the acceptable range may be 45 to 50
degrees, and the first predetermined range may be 50 to 55 degrees.
Accordingly, in such
an example, the control circuitry 52 determines whether the work angle is
within the first
predetermined range of 50 to 55 degrees.
[00172] If the parameter is within the first predetermined range, the control
circuitry 52
vibrates the welding torch at a first pattern (block 436). The first pattern
may be a first
frequency, a first frequency modulation, a first amplitude, and so forth.
Moreover, if the
parameter is not within the first predetermined range, the control circuitry
52 determines
whether the parameter is within a second predetermined range (block 438). The
second
predetermined range may be a range that is just outside of the first
predetermined range.
For example, continuing the example discussed above, the second predetermined
range
may be 55 to 60 degrees. Accordingly, in such an example, the control
circuitry 52
determines whether the work angle is within the second predetermined range of
55 to 60
degrees. If the parameter is within the second predetermined range, the
control circuitry
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
52 vibrates the welding torch at a second pattern (block 440). The second
pattern may be
a second frequency, a second frequency modulation, a second amplitude, and so
forth. It
should be noted that the second pattern is typically different than the first
pattern. In
certain embodiments, the first and second patterns may be the same.
Furthermore,
audible indications may be provided to the welding operator to indicate
whether the
parameter is within the first predetermined range or within the second
predetermined
range. In addition, audible indications may be used to indicate a parameter
that is not
within an acceptable range. In such embodiments, vibration may be used to
indicate that
a welding operator is doing something wrong, and audible indications may be
used to
identify what the welding operator is doing wrong and/or how to fix it. The
parameter
may be any suitable parameter, such as a work angle, a travel angle, a travel
speed, a tip-
to-work distance, and/or an aim. FIGS. 27 through 29 illustrate embodiments of
various
patterns.
[00173] FIG. 27 is a graph 442 of an embodiment of two patterns each including
a
different frequency for providing vibration feedback to a welding operator. A
first pattern
444 is separated from a second pattern 446 by time 448. In the illustrated
embodiment,
the first pattern 444 is a first frequency and the second pattern 446 is a
second frequency
that is different from the first frequency. The first and second frequencies
may be any
suitable frequency. As may be appreciated, the first and second frequencies
may be
configured to be different than a natural frequency produced during live
welding to
facilitate a welding operator differentiating between the natural frequency
and the first
and second frequencies. Although the illustrated embodiment shows the first
frequency
being lower than the second frequency, in other embodiments, the second
frequency may
be lower than the first frequency.
[00174] FIG. 28 is a graph 450 of an embodiment of two patterns each including
a
different modulation for providing vibration feedback to a welding operator. A
first
pattern 452 is separated from a second pattern 454 by time 456. In the
illustrated
embodiment, the first pattern 452 is a first modulation and the second pattern
454 is a
second modulation that is different from the first modulation. The first and
second
modulation may be any suitable modulation. For example, the first modulation
may
include a first number of vibration pulses (e.g., two pulses) and the second
modulation
may include a second number of vibration pulses (e.g., three pulses).
Moreover, the
modulation may vary a number of pulses, a time between pulses, etc. In certain
embodiments, a number of vibration pulses and/or a time between pulses may be
configured to gradually increase or decrease as a parameter moves toward or
away from
51
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
acceptable parameter values. Although the illustrated embodiment shows the
first
modulation as having fewer pulses than the second modulation, in other
embodiments, the
second modulation may have fewer pulses than the first modulation.
[00175] FIG. 29 is a graph 458 of an embodiment of two patterns each including
a
different amplitude for providing vibration feedback to a welding operator. A
first pattern
460 is separated from a second pattern 462 by time 464. In the illustrated
embodiment,
the first pattern 460 is a first amplitude and the second pattern 462 is a
second amplitude
that is different from the first amplitude. The first and second amplitudes
may be any
suitable amplitude. Although the illustrated embodiment shows the first
amplitude being
lower than the second amplitude, in other embodiments, the second amplitude
may be
lower than the first amplitude.
[00176] The welding torch 14 may provide varied levels of vibration and visual
feedback to the operator during simulated welding or live welding. For
example, a first
feedback mode of the welding torch 14 may provide visual feedback (e.g., via
display 62)
and vibration feedback to the operator until the operator initiates a
simulated or live
welding process, and the welding torch 14 may not provide visual or vibration
feedback
during the simulated or live welding process. A second feedback mode of the
welding
torch 14 may provide visual and vibration feedback to the operator both prior
to and
during the simulated or live welding process. A third feedback mode of the
welding torch
may provide visual and vibration feedback to the operator both prior to and
during only
simulated welding processes. As may be appreciated, some modes may provide
only
visual feedback prior to or during a simulated welding process, and other
modes may
provide only vibration feedback prior to or during a simulated welding
process. In some
embodiments, an instructor may specify the level of feedback that may be
provided to the
operator during simulated or live welding sessions to be evaluated. Moreover,
the
operator may selectively disable vibration and/or visual feedback provided by
the welding
torch prior to and during simulated or live welding.
[00177] FIG. 30 is a perspective view of an embodiment of the welding torch 14
having
markers that may be used for tracking the welding torch 14. While FIGS. 30 and
31
illustrate a welding torch 14, other welding devices (e.g., welding tools,
stingers,
calibration tools) may have markers 474 (e.g., visual markers 802) arranged
about the
respective welding device in a prescribed pattern that corresponds to a rigid
body model
of the welding device. Accordingly, from a set of markers 474 detected by the
sensing
device 16, the computer 18 coupled to the sensing device 16 may determine the
type of
welding device, a rigid body model for the welding device, a position of the
welding
52
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
device, and an orientation of the welding device. In some embodiments, the
position of
the welding torch 14 may be tracked prior to live welding to determine (i.e.,
calibrate) the
shape of the welding joint. For example, the welding torch 14 may be utilized
to trace the
shape of a workpiece 82 in various positions including, but not limited, to
welding
positions 1G, 2G, 3G, 4G, 5G, 6G, 1F, 2F, 3F, 4F, 5F, or 6F. The determined
shape of
the welding joint may be stored in the data storage system 318 for comparison
with a
subsequent live welding process along the welding joint. In some embodiments,
the
position of the welding torch 14 may be tracked during live welding and
compared with
the shape of the welding joint stored in the data storage system 318. The
control circuitry
52 of the welding torch 14 and/or any other component of the training system
10 may
provide approximately real-time feedback to the operator regarding the
position (e.g.,
location) and/or orientation of the welding torch 14 relative to the welding
joint. The
welding torch 14 includes a housing 466 that encloses the control circuitry 52
of the
welding torch 14 and/or any other components of the welding torch 14. The
display 62
and user interface 60 are incorporated into a top portion of the housing 466.
[00178] As illustrated, a neck 470 extends from the housing 466 of the welding
torch
14. Markers for tracking the welding torch 14 may be disposed on the neck 470.
Specifically, a mounting bar 472 is used to couple markers 474 to the neck
470. The
markers 474 arc spherical markers in the illustrated embodiment; however, in
other
embodiments, the markers 474 may be any suitable shape (e.g., such as a shape
of an
LED). The markers 474 are used by the sensing device 16 for tracking the
position
and/or the orientation of the welding torch 14. As may be appreciated, three
of the
markers 474 are used to define a first plane. Moreover, the markers 474 are
arranged
such that a fourth marker 474 is in a second plane different than the first
plane.
Accordingly, the sensing device 16 may be used to track the position and/or
the
orientation of the welding torch 14 using the four markers 474. It should be
noted that
while the illustrated embodiment shows four markers 474, the mounting bar 472
may
have any suitable number of markers 474.
[00179] In certain embodiments, the markers 474 may be reflective markers
(e.g.,
retroreflectors), while in other embodiments the markers 474 may be light-
emitting
markers (e.g., light-emitting diodes LEDs 64). In embodiments in which the
markers 474
are light-emitting markers, the markers 474 may be powered by electrical
components
within the housing 466 of the welding torch 14. For example, the markers 474
may be
powered by a connection 476 between the mounting bar 472 and the housing 466.
Furthermore, the control circuitry 52 (or control circuitry of another device)
may be used
53
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
to control powering on and/or off (e.g., illuminating) the markers 474. In
certain
embodiments, the markers 474 may be individually powered on and/or off based
on the
position and/or the orientation of the welding torch 14. In other embodiments,
the
markers 474 may be powered on and/or off in groups based on the position
and/or the
orientation of the welding torch 14. It should be noted that in embodiments
that do not
include the mounting bar 472, the connection 476 may be replaced with another
marker
468 on a separate plane than the illustrated markers 468. Embodiments of the
welding
torch 14 are described herein relative to a consistent set of coordinate axes
780. An X-
axis 782 is a horizontal direction along a longitudinal axis of the welding
torch 14, a Y-
axis 784 is the vertical direction relative to the longitudinal axis, and a Z-
axis 786 is a
horizontal direction extending laterally from the welding torch 14.
[00180] FIG. 31 is an embodiment of a neck 800 of the welding torch 14, taken
along
line 31-31 of FIG. 30. Visual markers 802 are arranged at predefined locations
on the
neck 800 to facilitate detection of the position and orientation of the
welding torch 14 by
the sensing device 16. In some embodiments, the visual markers 802 are LEDs
64.
Additionally, or in the alternative, the visual markers 802 are directional,
such that the
sensing device 16 detects visual markers 802 that are oriented (e.g.,
centered) toward the
sensing device 16 (e.g., one or more cameras) more readily than visual markers
802 that
are less oriented toward the sensing device 16. For example, LEDs 64 arranged
on a
surface may be directed to emit light (e.g., visible light, infrared light,
ultraviolet light)
primarily along an axis substantially perpendicular to the surface.
Furthermore, one or
more of the visual markers 802 may be retroreflectors configured to reflect
light
substantially toward the direction from which the respective visual marker
received the
light (e.g., from an infrared light positioned near a camera sensing device
16). In some
embodiments, multiple sets of visual markers 802 are arranged on the neck 800.
[00181] The visual markers 802 of each set may be oriented (e.g., centered) in
substantially the same direction as the other visual markers 802 of the
respective set. In
some embodiments, a first set 804 of visual markers 802 is directed
substantially
vertically along the Y-axis 784, a second set 806 of visual markers 802 is
directed in a
second direction 808, and a third set 810 of visual markers 802 is directed in
a third
direction 812. That is, the visual markers 802 of each set are oriented to
emit light in
substantially parallel directions as other visual markers 802 of the
respective set. The
second direction 808 is substantially perpendicular to the X-axis 782 along
the welding
torch 14, and is offset a second angle 814 from the Y-axis 784. The third
direction 812 is
substantially perpendicular to the X-axis 782 along the welding torch 14, and
is offset a
54
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
third angle 816 from the Y-axis 784. In some embodiments, the second angle 814
and the
third angle 816 have approximately the same magnitude. For example, the second
set 806
of visual indicators 802 may be offset from the Y-axis 784 by 450, and the
third set 810 of
visual indicators 802 may be offset from the Y-axis 784 by 45 , such that the
second
angle 814 is substantially perpendicular with the third angle 816. The second
angle 814
and the third angle 816 may each be between approximately 5' to 1800, 150 to
135', 250 to
90 , or 30 to 75 . As may be appreciated, the neck 800 may have 1, 2, 3, 4,
5, 6, 7, 8, 9,
10, or more sets of visual markers 802, with each set oriented in a particular
direction to
facilitate detection by the sensing device 16.
[00182] The visual markers 802 of each set may be arranged on the same or
substantially parallel planes. For example, the first set 804 of visual
markers 802 may be
arranged on a first plane 818 or a plane substantially parallel to the first
plane 818 that is
perpendicular to the Y-axis 784. The second set 806 of visual markers 802 may
be
arranged on a second plane 820 or a plane substantially parallel to the second
plane 820
that is perpendicular to the second direction 808. The third set 810 of visual
markers 802
may be arranged on a third plane 822 or a plane substantially parallel to the
third plane
822 that is perpendicular to the third direction 812. In some embodiments, the
visual
markers 802 of each set may be spatially distributed about the welding torch
14 to
maximize the distance between the visual markers 802 of the respective set,
which may
facilitate determination of the position and orientation of the welding torch
14 relative to
the sensing device relative to a more narrow spatial distribution. As used
herein, the term
"substantially parallel" includes orientations within 10 degrees of parallel,
and the term
"substantially perpendicular" includes orientations within 10 degrees of
perpendicular.
The arrangements of the visual markers 802 of each set may facilitate tracking
the
welding torch 14 during simulated and/or live out of position welding
processes
including, but not limited to, vertical or overhead welding positions.
[00183] Structures 824 of the neck 800 may facilitate the orientation of the
sets of the
visual markers 802. For example, a mounting surface of each structure 824 may
be
substantially parallel to a respective plane for the corresponding set of
visual markers
802. Moreover, the structures 824 may reduce or eliminate the detection of the
respective
visual marker 802 by the sensing device 16 when the respective visual marker
802 is
oriented relative to the sensing device 16 at an angle greater than a
threshold angle. For
example, the second set 806 of visual markers 802 may be configured to be
detected by
the sensing device 16 when the operator holds the welding torch 14 with the
sensing
device 16 to the left of the operator (i.e., a left-handed operator), and the
third set 810 of
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
visual markers 802 may be configured to be detected by the sensing device 16
when the
operator holds the welding torch 14 with the sensing device 16 to the right of
the operator
(i.e., a right-handed operator). The neck 800 and/or the structures 824 for
the second set
806 of visual markers 802 may reduce or eliminate the detection of the second
set 806 of
visual markers 802 when a right-handed operator uses the welding torch 14, and
vice
versa for the third set 810 of visual markers when a left-handed operator uses
the welding
torch 14.
[00184] FIG. 32 is a top view of an arrangement of visual markers 80 on the
neck 800
of the welding torch 14, similar to the embodiment of the neck 800 illustrated
in FIG. 31.
The visual markers 802 of the first set 804 (e.g., "A"), the second set 806
(e.g., "B"), and
the third set 810 (e.g., "C") are arranged at different predefined positions
on the neck 800
that enable the sensing device 16 to determine which side of the welding torch
14 is most
directed towards the sensing device 16 via detecting a distinct pattern or
arrangement that
corresponds to each side (e.g., top, left 826, right 828, bottom, front) of
the welding torch
14. Additionally, or in the alternative, the visual markers 802 (e.g., LEDs
64) of each set
may be respectively colored, thereby enabling the sensing device 16 to
determine which
side of the welding torch 14 is most directed towards the sensing device 16
via color
detection. That is, the first set 804 may emit light within a first spectrum
(e.g.,
approximately 730 nm infrared), the second set 806 may emit light within a
second
spectrum (e.g., approximately 850 nm infrared), and the third set 810 may emit
light
within a third spectrum (e.g., approximately 940 nm). Different wavelengths
for each set
of visual markers 802 may enable the controller (e.g., computer 18) coupled to
the
sensing device 16 to readily determine which set of visual markers 802 and
which side of
the welding torch 14 are visible to the sensing device 16 based at least in
part on which
wavelengths are detected.
[00185] The sensing device 16 may track the position and orientation of the
welding
torch 14 relative to the training stand 12 and the workpiece 82 when the
sensing device 16
detects a threshold quantity of visual markers 802 of a set. The threshold
quantity of
visual markers 802 of a set may be at least three, four, five, or more visual
markers 802
detectable by the sensing device 16 at a time. The threshold quantity of
visual markers
802 of a set may be less than or equal to the quantity of visual markers 802
of the
respective set. For example, the sensing device 16 may detect the right side
of the
welding torch 14 when detecting the four visual markers 802 of the third set
810, the
sensing device 16 may detect the top side of the welding torch 14 when
detecting the five
visual markers 802 of the first set 804, and the sensing device 16 may detect
the left side
56
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
of the welding torch when detecting the four visual markers 802 of the second
set. In
some embodiments, each set of visual markers 802 may have redundant visual
markers,
such that sensing device 16 may track the position and the orientation of the
welding
torch 14 when one or more of the redundant visual markers are obscured from
view. The
sensing device 16 may track the position and the orientation with
substantially the same
accuracy, regardless of which set is detected by the sensing device 16. In
some
embodiments, the threshold quantity of visual markers 802 of a respective set
[00186] The visual markers 802 may be arranged on the neck 800 of the welding
torch
14 at positions relative to the X-axis 782 along the welding torch 14, and
relative to a
baseline 830. For example, the lust set 804 may have five visual markers 802:
two visual
markers 802 along the baseline 830 near a first end 832 of the neck 800 and
spaced a first
offset 831 from the X-axis 782, a visual marker 802 spaced a first distance
834 from the
baseline 830 in a midsection 836 of the neck 800 and spaced a second offset
838 from the
X-axis 782 to the left side 826, a visual marker 802 spaced a third distance
840 from the
baseline 830 in the midsection 836 and spaced the second offset 838 to the
right side 828,
and a visual marker 802 near a second end 842 of the neck 800 along the X-axis
782 and
spaced a fourth distance 844 from the baseline 830. The second set 806 may
have four
visual markers 802: a visual marker 802 along the baseline 830 and spaced a
third offset
846 from the X-axis 782 on the left side 826, a visual marker 802 spaced a
fifth distance
848 from the baseline 830 along the X-axis 782 in the midsection 836, a visual
marker
802 spaced a sixth distance 850 from the baseline 830 in the midsection 836
and spaced
the second offset 838 from the X-axis 782 on the right side 828, and a visual
marker 802
near the second end 842 of the neck 800 spaced the fourth distance 844 from
the baseline
830 and spaced the second offset 838 on the left side 826. The third set 810
may have
four visual markers 802: a visual marker 802 along the baseline 830 and spaced
the third
offset 846 from the X-axis 782 on the right side 828, a visual marker 802
spaced a
seventh distance 852 from baseline 830 along the X-axis 782 in the midsection
836, a
visual marker 802 spaced an eighth distance 854 from the baseline 830 in the
midsection
836 and spaced the second offset 838 from the X-axis 782 on the left side 826,
and a
visual marker 802 near the second end 842 of the neck 800 spaced the fourth
distance 844
from the baseline 830 and spaced the second offset 838 on the right side 828.
[00187] The arrangements (e.g., distances and offsets relative to the baseline
830 and
X-axis 782) of the visual markers 802 for each set 804, 806, 810 may be stored
in a
memory of the welding system 10. For example, the arrangements may be stored
in a
memory as calibrations corresponding to a particular welding torch coupled to
the
57
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding system 10. As discussed in detail below, the welding system 10 may
detect the
arrangement of the visual markers 802 directed to the sensing device 16, and
determine
the position and orientation of the welding torch 14 relative to the training
stand 12 and
the workpiece 82 based at least in part on a comparison of the detected
arrangement and
the arrangements stored in memory. Each set of visual markers 802 may be
calibrated,
such as prior to an initial use, after reconnecting the welding torch 14, or
at a
predetermined maintenance interval. To calibrate a set of visual markers 802,
the
welding torch 14 may be mounted to the training stand 12 in a predetermined
position and
orientation such that the respective set of visual markers 802 is
substantially directed
toward the sensing device 16. For example, the first set 804 may be calibrated
when the
welding torch 14 is mounted such that the Y-axis 784 of the welding torch 14
is generally
directed toward the sensing device 16, the second set 806 may be calibrated
when the
welding torch 14 is mounted such that the second direction 808 is generally
directed
toward the sensing device 16, and the third set 810 may be calibrated when the
welding
torch 14 is mounted such that the third direction 812 is generally directed
toward the
sensing device 16. In some embodiments, the sets of visual markers 802 are
calibrated
when a calibration tool (e.g., calibration tool 610 discussed below) is
coupled to the
welding torch 14. The operator may verify the calibrations by moving the
welding torch
14 about the welding environment relative to the training stand 12 and the
sensing device
16.
[00188] FIG. 33 is an embodiment of a method 478 for displaying on a display
of a
welding torch a welding parameter in relation to a threshold. In the
illustrated
embodiment, the control circuitry 52 (or control circuitry of another device)
receives a
selection made by a welding operator of a welding parameter associated with a
position,
an orientation, and/or a movement of the welding torch 14 (block 480). For
example, the
welding operator may select a button on the user interface 60 of the welding
torch 14 to
select a welding parameter. The welding parameter may be any suitable welding
parameter, such as a work angle, a travel angle, a travel speed, a tip-to-work
distance, an
aim, and so forth. As may be appreciated, the welding system 10 may select the
welding
parameter automatically without input from a welding operator. After the
selection is
made, the display 62 of the welding torch 14 displays or shows a
representation of the
welding parameter in relation to a predetermined threshold range and/or target
value for
the welding parameter (block 482). The displayed welding parameter is
configured to
change as the position of the welding torch 14 changes, as the orientation of
the welding
torch 14 changes, and/or as movement of the welding torch 14 changes. Thus,
the
welding operator may use the welding torch 14 to properly position and/or
orient the
58
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding torch 14 while performing (e.g., prior to beginning, starting,
stopping, etc.) a
welding operation, thereby enabling the welding operator to perform the
welding
operation with the welding parameter within the predetermined threshold range
or at the
target value.
[00189] For example, the welding operator may desire to begin the welding
operation
with a proper work angle. Accordingly, the welding operator may select "work
angle" on
the welding torch 14. After "work angle" is selected, the welding operator may
position
the welding torch 14 at a desired work angle. As the welding operator moves
the welding
torch 14, a current work angle is displayed in relation to a desired work
angle. Thus, the
welding operator may move the welding torch 14 around until the current work
angle
matches the desired work angle and/or is within a desired range of work
angles. As may
be appreciated, the display 62 may be turned off and/or darkened so that it is
blank during
a welding operation. However, a welding operator may select a desired welding
parameter prior to performing the welding operation. Even with the display 62
blank, the
control circuitry 52 may be configured to monitor the welding parameter and
provide
feedback to the welding operator during the welding operation (e.g., vibration
feedback,
audio feedback, etc.).
[00190] FIG. 34 is an embodiment of a set of screenshots of the display 62 of
the
welding torch 14 for showing a welding parameter in relation to a threshold.
The set of
screenshots illustrate various ways that welding parameters are displayed for
a welding
operator for performing a welding operation. As may be appreciated, in certain
embodiments, the welding parameters may be displayed to the welding operator
before,
during, and/or after the welding operation. Screen 484 illustrates a work
angle that is not
within a predetermined threshold range. A parameter portion 486 of the display
62
indicates the selected parameter. Moreover, a range section 488 indicates
whether the
selected parameter is within the predetermined threshold range. Furthermore, a
parameter
value section 490 indicates the value of the selected parameter. On the screen
484, the
work angle of 38 is out of range as indicated by the arrow extending outward
from the
central circle. Screen 492 illustrates a work angle of 45 that is within the
predetermined
threshold range as indicated by no arrow extending from the central circle.
[00191] As may be appreciated, the sensing device 16 may be configured to
detect
whether the travel angle is a drag angle (e.g., the travel angle is ahead of
the welding arc)
or a push angle (e.g., the travel angle follows behind the welding arc).
Accordingly,
screen 494 illustrates a drag travel angle of 23 that is outside of a
predetermined threshold
range as indicated by an arrow extending outward from a central circle.
Conversely,
59
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
screen 496 illustrates a push travel angle of 15 that is within the
predetermined threshold
range as indicated by no arrow extending from the central circle. Furthermore,
screen
498 illustrates a travel speed of 12 that is within of a predetermined
threshold range as
indicated by a vertical line aligned with the central circle. Conversely,
screen 500
illustrates a travel speed of the welding torch 14 that is outside of (i.e.,
greater than) the
predetermined threshold range as indicated by the vertical line to the right
of the central
circle. As may be appreciated, a travel speed that is less than a
predetermined threshold
range may be indicated by a vertical line to the left of the central circle.
The travel speed
indicator may dynamically move relative to the central circle in real-time
during a weld
process based at least in part on the determined travel speed, thereby guiding
the operator
to perform the weld process with a travel speed within the predetermined
threshold range.
[00192] Screen 502 illustrates a tip-to-work distance of 1.5 that is greater
than a
predetermined threshold range as indicated by a small circle within an outer
band.
Moreover, screen 504 illustrates the tip-to-work distance of 0.4 that is less
than a
predetermined threshold range as indicated by the circle outside of the outer
band.
Furthermore, screen 506 illustrates the tip-to-work distance of 1.1 that is
within the
predetermined threshold range as indicated by the circle substantially filling
the area
within the outer band. Moreover, screen 508 illustrates an aim of 0.02 that is
within a
predetermined threshold range as indicated by a line 509 aligned with a
central circle.
Conversely, screen 510 illustrates an aim of 0.08 that is not within the
predetermined
threshold range as indicated by the line 509 toward the top part of the
central circle. In
some embodiments, the line 509 of screens 508 and 510 represents the joint
relative to the
tip of the welding torch 14. For example, screens 508 and 510 illustrate the
aim of the
welding torch 14 when the welding torch 14 is oriented substantially
perpendicular to the
joint (as illustrated by the line 509).
[00193] Screen 511 illustrates the aim of the welding torch 14 when the
welding torch
14 is at least partially angled relative to the joint, as indicated by the
line 509 and the
tilted orientation of the welding torch 14. That is, while the positions of
the welding torch
14 relative to the joint (e.g., line 509) corresponding to screens 508 and 511
are
substantially the same, the orientation of the line 509 of screen 508 on the
display
corresponds to a perpendicular orientation of the welding torch 14 relative to
the joint and
the orientation of the line 509 of screen 511 on the display 62 corresponds to
a non-
perpendicular orientation of the welding torch 14 relative to the joint. The
orientation of
the range section 488 (e.g., aim indicator, angle indicator, CTWD indicator)
may be
rotated on the display by a rotation angle defined as the angle difference
between a front
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
edge 513 of the display 62 and the joint. The graphical representations on the
display 62
may correspond to the orientation of the welding torch 14 relative to the
joint rather than
to the orientation of the display 62 relative to the operator. For example,
when the
welding torch 14 is positioned near a vertical joint such that the welding
torch 14 is
substantially parallel with the joint, the line 509 on the display 62 may be
oriented
vertically on the display 62. The joint indicator line 509 may be
substantially
perpendicular to the travel speed indicator discussed above with screens 498
and 500.
The graphical representations on the display 62 may be rotated on the display
62 to
correspond to the orientation of the welding torch 14 relative to the joint
based at least in
part on the determined orientation of the welding torch 14 based on the
detected visual
markers 802 (e.g., LEDs 64), feedback from the inertial sensors 426 of the
welding torch
14, or any combination thereof. In some embodiments, a default mode of the
display 62
of the welding torch 14 is to display the graphical representations as shown
in screens
484, 492, 494, 496, 498, 500, 502, 504, 506, 508, and 510, where the welding
torch 14 is
moved substantially horizontally (e.g., right-to-left, left-to-right) during
the welding
operation. The display 62 may be configured in a rotation mode that enables
rotation of
the graphical representations on the display 62, as illustrated in screen 511.
Rotation of
the graphical representations on the display 62 may enable the operator
perception that
the graphical representation "floats" as the welding torch 14 and the housing
466 about
the display 62 move or rotate relative to the joint. That is, the arrangement
of the arrows
and lines of the graphical representation on the display 62 may not change
relative to the
operator viewing the display 62 despite a tilted or rotated position of the
welding torch 14
relative to the joint.
[00194] While specific graphical representations have been shown on the
display 62 in
the illustrated embodiment for showing a welding parameter in relation to a
threshold,
other embodiments may use any suitable graphical representations for showing a
welding
parameter in relation to a threshold. Moreover, in certain embodiments
individual
parameter visual guides may be combined so that multiple parameters are
visually
displayed together. For example, screen 511 on the display 62 may illustrate
in
substantially real-time via the rotated graphical representation the
indicators (e.g., range
section 488, arrows, bars) for a work angle that is less than the
predetermined threshold
work angle range, a push travel angle outside the predetermined threshold
travel angle
range, a tip-to-work distance that is within the predetermined tip-to-work
distance
threshold range, an aim that is within the predetermined aim threshold range,
and a travel
speed that is greater than a predetermined travel speed threshold range. In
some
embodiments, the operator may adjust the display 62 to display only a selected
indicator
61
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
(e.g., travel speed, travel angle, tip-to-work distance) in real-time during a
live or training
welding operation. In some embodiments, the display 62 may cycle through the
various
indicators of welding parameters during the live or training welding
operation, or the
display 62 may illustrate in substantially real-time only the one or more
indicators for
parameters that are outside of the respective threshold ranges.
[00195] Furthermore, in certain embodiments, the welding system 10 may detect
if the
welding torch 14 is near and/or far from a welding joint. Being near the
welding joint is a
function of the contact tip-to-work distance (CTWD) and aim parameters. When
both the
CTWD and aim parameters are within suitable predetermined ranges (e.g., less
than 3.0,
2.0, 1.5, 1.0, or 0.5 inches each), the welding system 10 may consider the
welding torch
14 near the welding joint. Furthermore, the control circuitry 52 of the
welding torch 14 or
another device may determine the work angle, the travel angle, and the travel
speed based
at least in part on the position of the welding torch 14 relative to a known
(e.g.,
calibrated) welding joint of the workpiece 82 when the CTWD and the aim are
substantially constant along the welding joint. As may be appreciated, the
position and
orientation of the welding torch 14 may be determined via the sensing devices
16 and the
markers 474, the one or more inertial sensors 426, and/or the one or more
microphones
429 of the welding torch 14. In some embodiments, a second position detection
system
(e.g., inertial sensor(s) 426 of the welding torch 14, microphone(s) 429 of
the welding
torch 14) may only be activated when the welding torch 14 is positioned near
the welding
joint. The second position detection system may be deactivated when the
welding torch
14 is not near the welding joint, such that the sensing devices 16 and the
markers 474 may
be utilized to determine the position and/or orientation of the welding torch
14 within the
welding environment. Moreover, when the welding torch 14 is near the welding
joint, the
visual guides may be displayed on the welding torch 14. When the welding torch
14 is
near the welding joint and in the live welding mode, a message (e.g., warning
message)
may be displayed on a display indicating that proper welding equipment (e.g.,
welding
helmet, etc.) should be in place as a safety precaution for onlookers.
However, an
external display may continue to display the real-time data at a safe distance
from the
welding operation. Moreover, in some embodiments, when the welding torch 14 is
near
the welding joint and in the live welding mode, the display of the welding
torch 14 may
be changed (e.g., to substantially blank and/or clear, to a non-distracting
view, to a
predetermined image, etc.) while a welding operator actuates the trigger of
the welding
torch 14. When the welding torch 14 is far from the welding joint, actuating
the trigger of
the welding torch 14 will not perform (e.g., begin) a test run. Furthermore,
when the
welding torch 14 is far from the welding joint, actuating the welding torch 14
will have
62
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
no effect in a non-live welding mode, and may feed welding wire in the live
welding
mode without beginning a test run.
[00196] FIG. 35 is an embodiment of a method 512 for tracking the welding
torch 14 in
the welding system 10 using at least four markers. One or more cameras (e.g.,
such as
one or more cameras of the sensing system 16) are used to detect the markers
of the
welding torch 14 (block 514). As discussed above, the markers may be
reflective markers
(e.g., retroreflectors) and/or light-emitting markers. Furthermore, the
markers may
include four or more markers to facilitate determining an accurate position
and/or
orientation of the welding torch 14. One or more processors 20 of the computer
18 (or
other processors) may be used with the sensing system 16 to track the position
of the
welding torch 14 and/or the orientation of the welding torch 14 based on the
detected
markers (block 516). If the one or more cameras are unable to detect one or
more of the
markers, the one or more processors 20 (or control circuitry, such as the
control circuitry
52) may be configured to block live welding while the one or more cameras are
unable to
detect the markers (block 518). However, in some embodiments of the welding
system
10, one or more cameras integrated with the helmet 41 may enable detection of
four or
more markers to facilitate determining an accurate position and/or orientation
of the
welding torch 14 with respect to the welding helmet 41. Thus, one or more
cameras
integrated with the helmet 41 may facilitate detection of the position and/or
orientation of
the welding torch 14 for welding processes that would otherwise obscure the
one or more
markers from cameras mounted to the stand 12. As may be appreciated, the
position
and/or orientation of the welding helmet 41 in the welding environment may be
determined via the one or more sensing devices 16 of the welding system 10 in
a similar
manner as described above for the welding torch 14 where the markers are
observable. In
some embodiments, the display 62 of the welding torch 14 may be configured to
display a
message indicating that the markers are not detected while the one or more
cameras are
unable to detect the markers of the welding torch 14 (block 520). Accordingly,
live
welding using the welding torch 14 may be blocked if the welding torch 14 is
unable to
be tracked by the sensing system 16.
[00197] Some embodiments of the welding system 10 may track the welding torch
14
in the welding environment during periods where one or more of the markers 474
are
obscured and not detected. Some embodiments may utilize position detection
systems
that directly observe a portion of the welding torch 14 without the markers
474.
Furthermore, the welding system 10 may include one or more of various types
(e.g., line-
of-sight based (i.e., infrared, visible light, or acoustic), electromagnetic
radiation based,
63
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
radio signal based, inertial based) of position detection systems that may be
used
independently or in combination to facilitate tracking the position,
orientation, and/or
movement of the welding torch 14 relative to the workpiece 82. In some
embodiments,
control circuitry (e.g., computer 18) of the welding system 10 may
independently store
output from each position detection system, thereby facilitating separate
analysis and/or
weighting of the respective outputs to determine the position and orientation
of the
welding torch within the welding environment. For example, output from
different
position detection systems may be weighted based on an accuracy of the output,
a
reliability of the output, a calibration of the respective position detection
system, or any
combination thereof. . As described above, the welding system 10 may track the
position
and/or the orientation of the welding torch 14 based at least in part on
feedback from one
or more inertial sensors 426 (e.g., accelerometers, gyroscopes) of the welding
torch 14.
Moreover, embodiments of the welding system 10 with beacons of a local
positioning
system and one or more microphones 429 on the welding torch 14 may determine a
position of the welding torch 14 within the welding environment when the
portions (e.g.,
markers 474) of the welding torch 14 are obscured from the line of sight of
some sensing
devices 16 (e.g., cameras). Accordingly, block 518 of method 512 (to block
live welding
while the markers are not detected) may be optional during intervals when the
control
circuitry 52 may otherwise determine the position of the welding torch 14
within the
welding environment. Additionally, or in the alternative, the welding system
10 may
track the welding torch 14 in the welding environment when the welding torch
14 does
not have markers 474 as described above. Therefore, in some embodiments, the
control
circuitry 52 permits live welding while the markers are not detected or not
present on the
welding torch 14.
[00198] FIG. 36 is an embodiment of a method 522 for detecting the ability for
the
processor 20 (or any other processor) to communicate with the welding torch
14. The
welding torch 14 is configured to detect a signal from the processor 20 (block
524). The
signal is provided from the processor 20 to the welding torch 14 at a
predetermined
interval. In certain embodiments, the signal may be a pulsed signal provided
from the
processor 20 to the welding torch 14 at the predetermined interval. Moreover,
the signal
is provided to the welding torch 14 so that the welding torch 14 is able to
determine that
the welding torch 14 is able to communicate with the processor 20. If the
welding torch
14 does not receive the signal from the processor 20 within the predetermined
interval,
control circuitry 52 (or control circuitry of another device) is configured to
block live
welding using the welding torch 14 while the signal is not detected (block
526).
Moreover, the display 62 may be configured to display a message indicating
that the
64
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
signal from the processor 20 is not detected while the live welding is blocked
(block 528).
Accordingly, the welding torch 14 may detect the ability for the processor 20
to
communicate with the welding torch 14.
[00199] FIG. 37 is an embodiment of a method 530 for calibrating a curved weld
joint
that may be used with the welding system 10. One or more cameras (e.g., such
as one or
more cameras of the sensing system 16) are used to detect a first position
(e.g., first
calibration point) of the curved weld joint (block 532). For example, a
calibration tool
and/or the welding torch 14 may be used to identify the first position of the
curved weld
joint to the one or more cameras (e.g., such as by touching a tip of the
calibration tool
and/or the welding torch 14 to the first position). In addition, the one or
more cameras
may be used to track the calibration tool and/or the welding torch 14 to
determine a
position and/or an orientation of the calibration tool and/or the welding
torch 14 for
detecting the first position of the curved weld joint.
[00200] Moreover, the one or more cameras are used to detect a second position
(e.g.,
second calibration point) of the curved weld joint (block 534). For example,
the
calibration tool and/or the welding torch 14 may be used to identify the
second position of
the curved weld joint to the one or more cameras. In addition, the one or more
cameras
may be used to track the calibration tool and/or the welding torch 14 to
determine a
position and/or an orientation of the calibration tool and/or the welding
torch 14 for
detecting the second position of the curved weld joint. Furthermore, the one
or more
cameras are used to detect a curved portion of the curved weld joint between
the first and
second positions of the curved weld joint (block 536). For example, the
calibration tool
and/or the welding torch 14 may be used to identify the curved weld joint
between the
first and second positions of the curved weld joint. In addition, the one or
more cameras
may be used to track the calibration tool and/or the welding torch 14 to
determine a
position and/or an orientation of the calibration tool and/or the welding
torch 14 for
detecting the curved portion of the curved weld joint. As may be appreciated,
during
operation, the first position may be detected, then the curved weld joint may
be detected,
and then the second position may be detected. However, the detection of the
first
position, the second position, and the curved weld joint may occur in any
suitable order.
In certain embodiments, a representation of the curved portion of the curved
weld joint
may be stored for determining a quality of a welding operation by comparing a
position
and/or an orientation of the welding torch 14 during the welding operation to
the stored
representation of the curved portion of the curved weld joint. As may be
appreciated, in
certain embodiments, the welding operation may be a multi-pass welding
operation.
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00201] Moreover, calibration for some joints, such as circular weld joints
(e.g., pipe
joints) may be performed by touching the calibration tool to three different
points around
the circumference of the circular weld joint. A path of the circular weld
joint may then be
determined by calculating a best-fit circle that intersects all three points.
The path of the
circular weld joint may be stored and used to evaluate welding parameters of
training
welds. For a more complex geometry, the calibration tool and/or the welding
torch 14
might be dragged along the entire joint in order to indicate the joint to the
system so that
all of the parameters may be calculated.
[00202] In some embodiments, the method 530 for calibrating a curved weld
joint that
may be used with the welding system 10 may not utilize the welding torch 14 or
the
calibration tool to determine the path of the weld joint. That is, the control
circuitry 52
may utilize one or more images captured by cameras (e.g., such as one or more
cameras
of the sensing system 16) to detect the first position (block 532), the second
position
(block 534), and the curved portion (block 536) of the weld joint.
Additionally, or in the
alternative, the control circuitry 52 may utilize one or more emitters (e.g.,
emitters 105,
109) to emit a visible pattern (e.g., grid, point field) onto the workpiece 82
and weld joint.
Cameras configured to detect the visible pattern may determine the shape of
the
workpiece 82 and/or the path of the weld joint based on particular features of
the shape
and orientation of the visible pattern on the workpiece 82 and weld joint. The
control
circuitry 52 may determine the shape of the weld joint and/or the workpiece 82
utilizing
object recognition algorithms (e.g., edge detection) applied to the one or
more captured
images or visible pattern. The operator may provide input to aid the object
recognition,
such as selecting a type of joint (e.g., butt, tee, lap, corner, edge) and/or
the shape (e.g.,
planar, tubular, curved) of the workpiece 82.
[00203] FIG. 38 is a diagram of an embodiment of a curved weld joint 538. Such
a
curved weld joint 538 may be calibrated using the method 530 described in FIG.
37. The
curved weld joint 538 is on a workpiece 540. Specifically, the curved weld
joint 538
includes a first position 542, a second position 544, and a curved portion
546. Using the
method 530, a shape of the curved weld joint 538 may be determined and/or
stored for
evaluating a welding operator performing a welding operation on the curved
weld joint
538.
[00204] FIG. 39 is a diagram of an embodiment of a complex shape workpiece 539
with a curved weld joint 541. The curved weld joint 541 may be calibrated via
markers
543 added to the workpiece 539 (e.g., near the curved weld joint 541). A
marking tool
545 may apply the markers 543 to the workpiece 539. The marking tool 545 may
be a
66
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
manual marking tool 545 with a handle 557. The markers 543 may include, but
are not
limited to paints, inks, pigments, stickers (e.g., tape), or reflectors
applied to the
workpiece 539 via the marking tool 545. The operator may roll a marking wheel
547 of
the marking tool 545 along the curved weld joint 541, depositing (e.g.,
transferring) the
markers 543 on the workpiece 539 to be utilized during a live welding session.
For
example, one or more applicators 549 on the marking wheel 547 may apply the
markers
543 to the workpiece 539. In some embodiments, the markers 543 (e.g., paint,
ink,
pigment) may be removed from the workpiece 539 upon completion of performing
the
weld along the weld joint 541. That is, the markers 543 may be washed or
scrubbed off
the workpiece 539. The one or more applicators 549 are arranged about the
marking tool
545 to facilitate placing one or more markers in a repeating pattern along a
path of the
workpiece. For example, the one or more applicators 549 may be arranged about
a
circumference 551 of the marking wheel 547 such that one period of the pattern
of the
one or more markers 543 is applied to the workpiece 539 for each revolution of
the
marking wheel 547. In some embodiments, the applicators 549 are configured to
apply
paint (e.g., reflective paint, fluorescent paint) from a reservoir of the
marking tool 545 as
each applicator 549 interfaces with the workpiece 539. Moreover, the
applicators 549
may be a sorbent material that stores paint or ink.
[00205] Cameras of the sensing device 16 on the stand 12 and/or integrated
with the
helmet 41 of the welding system 10 may detect the markers 543. Control
circuitry of the
welding system 10 may determine the shape of the complex shape workpiece 539
and/or
the welding system 10 may determine the welding path along the curved weld
joint 541
based at least in part on the detected markers 543. The shape of the complex
shape
workpiece 539 and/or the welding path of the curved weld joint 541 may be
stored for
evaluating a welding operator performing a welding operation on the curved
weld joint
541. While the markers 543 shown in FIG. 39 are discontinuous, some
embodiments of
the markers 543 may be continuous along the curved weld joint 541.
[00206] As may be appreciated, embodiments of the one or more markers 543 may
include various geometric shapes, curves, lines, pictures, text, logos, or any
combination
thereof. FIGS. 72-75 illustrate embodiments of markers 543 that may be applied
to the
workpiece 539 by the marking tool 545. Each of FIGS. 72-75 illustrates a
respective
embodiment of a marker 543 having known properties (e.g., length 561, width
563,
direction 565, shape, radius). In some embodiments, markers 543 are asymmetric
about
the direction 565 (e.g., markers of FIGS. 73-75), asymmetric in about a
transverse
direction 593 (e.g., marker of FIG. 72), or asymmetric about both directions
565 and 593.
67
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
For example, the logo marker embodiment of FIG. 75 includes a picture and text
that
corresponds to the tool manufacturer and/or seller. In some embodiments, each
marker
543 has an endpoint 567 that demarcates the beginning and/or the end of the
respective
marker 543. Moreover, features (e.g., arrows 569, text direction, unique
portions) of the
marker 543 may facilitate correspondence of the known properties of the marker
543 with
images captured by the sensing device 16 (e.g., camera). In some embodiments,
the
period of each marker 543 includes one or more unmarked lengths 555 (e.g.,
gaps), as
shown by the dashed line markers 543 proximate the joint 541 of FIG. 39. As
discussed
below, comparison of observed properties of a pattern of markers 543 with the
known
properties of the markers 543 facilitates the determination of the shapes of
workpiece
components with the pattern of markers 543 and the determination of the weld
joint 541
between the workpiece components. In some embodiments, the pattern of markers
543
may be a continuous line with known properties (e.g., length, width).
[00207] FIG. 76 illustrates an embodiment of a welding system with workpiece
components 569, 571 to be joined along a weld joint 573. As discussed herein,
the term
workpiece includes embodiments of separate pieces (e.g., first component 569,
second
component 571) to be welded together. A first surface 575 of the first
component 569 has
a first pattern 577 of markers 543 (e.g., triangles) observable by the camera
579. As may
be appreciated, the camera 579 may be a camera of the sensing device 16, such
as a
camera 579 coupled to and/or integrated with the welding helmet 41. In some
embodiments, the camera 579 is coupled to the welding torch 14. Captured
images of the
first pattern 577 of markers 543 may be used to determine the plane of the
first surface
575. Comparison of observed properties (e.g., marker length, marker width,
marker
radius) of a marker 543 of the first pattern 577 with the known properties of
the marker
543 may be utilized to determine the position (e.g., radial distance, height,
azimuth) of the
marker 543 relative to the camera 579. In some embodiments, the known
properties of
the marker 543 may include the marker width for each point along the marker
length.
Comparison of the observed marker width at a point with the known marker width
at the
point may facilitate determining the position and/or the orientation of the
respective
marker 543 relative to the camera 579. The determined position of multiple
markers (or
points within the markers) of the first pattern 577 may facilitate the
determination of the
plane of the first surface 575. In a similar manner, captured images of a
second pattern
581 of markers 543 on a second surface 583 of the second component 571 may
facilitate
the determination of the plane of the second surface 583. The location of the
joint 573
may then be determined as the intersection of the determined plane of the
first surface
575 with the determined plane of the second surface 583. While the embodiments
of the
68
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
first pattern 577 and the second pattern 581 each have a plurality (e.g.,
three) of full
length adjacent markers 543, it may be appreciated that patterns of markers
543 with
portions of a period of a marker 543 may be utilized to determine the plane
and the
location of the joint 573. Moreover, the positions of the markers 543, the
planes of the
surfaces 575 and 583, and the location of the joint 573 may be determined by
one or more
algorithms executed by the computer 18.
[00208] In some embodiments, the respective surface of the components and the
joint
573 may be determined by comparing observed properties of the markers 543 with
the
known properties of the markers 543. For example, the computer 18 may
determine the
position of a first marker 585 by comparing the observed length and width of
the first
marker 585 to the known length 561 and width 563 of the first marker 585. The
computer
18 may also determine the direction 565 of the first marker 585, thereby
enabling the
computer 18 to estimate the position of an adjacent second marker 587. That
is, the
markers 543 of a pattern (e.g., first pattern 577) applied to a workpiece
component may
be detected by the camera 579 in substantially any orientation (e.g.,
parallel,
perpendicular, askew) relative to the joint 573. Comparison of the observed
properties of
the second marker 587 with estimated or observed properties of the second
marker 587
may facilitate the determination of the shape of the first surface 575. For
example, the
observed differences of the markers 543 of the first pattern 577 applied to a
planar
component (e.g., first surface 575) may be recognizably different than the
observed
differences of the markers 543 of a third pattern 589 applied to a curved
(e.g., circular)
component 591. The differences (e.g., distortion) between the observed
properties of the
markers 543 relative to the known properties of the markers 543 may be
utilized to
determine the position and/or the orientation of the markers 543 on the
surface of the
workpiece. Moreover, differences (e.g., distortion) between the observed
properties of
the markers 543 within a repeating pattern on the same surface may be utilized
to
determine the shape of the workpiece.
[00209] FIG. 40 is an embodiment of a method 548 for tracking a multi-pass
welding
operation. One or more cameras (e.g., such as one or more cameras of the
sensing system
16) are used to detect a first pass of the welding torch 14 along a weld joint
during the
multi-pass welding operation (block 550). Moreover, the one or more cameras
are used
to detect a second pass of the welding torch 14 along the weld joint during
the multi-pass
welding operation (block 552). Furthermore, the one or more cameras are used
to detect
a third pass of the welding torch 14 along the weld joint during the multi-
pass welding
operation (block 554). The control circuitry 52 (or control circuitry of
another device)
69
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
may be configured to store a representation of the first pass, the second
pass, and/or the
third pass together as a single welding operation for determining a quality of
the multi-
pass welding operation. As may be appreciated, the multi-pass welding
operation may be
a live welding operation, a training welding operation, a virtual reality
welding operation,
and/or an augmented reality welding operation.
[00210] FIG. 41 is a perspective view of an embodiment of the welding stand
12. The
welding stand 12 includes the welding surface 88 supported by the legs 90.
Moreover,
the welding surface 88 includes one or more slots 91 to facilitate positioning
of a
workpiece on the welding surface 88. Furthermore, the welding surface 88
includes
multiple apertures 556 (e.g., holes or openings) that extend through the
welding surface
88. The apertures 556 may be used to enable the sensing device 16 to determine
a
position and/or an orientation of the welding surface 88. Specifically,
markers may be
arranged below the apertures 556, yet within the view of the sensing device 16
to enable
the sensing device 16 to determine the position and/or the orientation of the
welding
surface 88. The markers may be arranged below the welding surface 88 to
facilitate
longer lasting markers and/or to block debris from covering the markers, as
explained in
greater detail in relation to FIG. 42.
[00211] Drawers 558 are attached to the welding stand 12 to enable storage of
various
components with the welding stand 12. Moreover, wheels 560 are coupled to the
welding
stand 12 to facilitate easily moving the welding stand 12. Adjacent to the
drawers 558, a
calibration tool holder 562 and a welding torch holder 564 enable storage of a
calibration
tool and the welding torch 14. In certain embodiments, the welding system 10
may be
configured to detect that the calibration tool is in the calibration tool
holder 562 at various
times, such as before performing a welding operation. A support structure 566
extending
vertically from the welding surface 88 is used to provide structure support to
the sensing
device 16 and the display 32. Moreover, a tray 568 is coupled to the support
structure
566 to facilitate storage of various components.
[00212] The protective cover 102 is positioned over the display 32 to block
certain
environmental elements from contacting the display 32 (e.g., weld spatter,
smoke, sparks,
heat, etc.). A handle 570 is coupled to the protective cover 102 to facilitate
rotation of the
protective cover 102 from a first position (as illustrated) used to block
certain
environmental elements from contacting the display 32 to a second raised
position away
from the display 32, as illustrated by arrows 572. The second position is not
configured
to block the environmental elements from contacting the display 32. In certain
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
embodiments, the protective cover 102 may be held in the first and/or the
second position
by a latching device, a shock, an actuator, a stop, and so forth.
[00213] A switch 573 is used to detect whether the protective cover 102 is in
the first
position or in the second position. Moreover, the switch 573 may be coupled to
the
control circuitry 52 (or control circuitry of another device) and configured
to detect
whether the protective cover 102 is in the first or the second position and to
block or
enable various operations (e.g., live welding, auxiliary power, etc.) while
the switch 573
detects that the protective cover 102 is in the first and/or the second
position. For
example, if the switch 573 detects that the protective cover 102 is in the
second position
(e.g., not properly coveting the display 32), the control circuitry 52 may
block live
welding and/or simulation welding (with the protective cover 102 in the second
position
the sensing device 16 may be unable to accurately detect markers). As another
example,
if the switch 573 detects that the protective cover 102 is in the second
position, control
circuitry of the welding stand 12 may block the availability of power provided
to an outlet
574 of the welding stand 12. In certain embodiments, the display 32 may show
an
indication that the protective cover 102 is in the first and/or the second
position. For
example, while the protective cover 102 is in the second position, the display
32 may
provide an indication to the welding operator that live welding and/or power
at the outlet
574 are unavailable. The welding stand 12 includes speakers 575 to enable
audio
feedback to be provided to a welding operator using the welding stand 12.
Furthermore,
in certain embodiments, if the trigger of the welding torch 14 is actuated
while the
protective cover 102 is in the second position, the welding system 10 may
provide visual
and/or audio feedback to the operator (e.g., the welding system 10 may provide
a visual
message and an audible sound effect).
[00214] As illustrated, the support structure 566 includes a first arm 576 and
a second
arm 578. The first and second arms 576 and 578 are rotatable about the support
structure
566 to enable the first and second arms 576 and 578 to be positioned at a
selected height
for vertical and/or overhead welding. In the illustrated embodiment, the first
and second
arms 576 and 578 are independently (e.g., separately) rotatable relative to
one another so
that the first arm 576 may be positioned at a first vertical position while
the second arm
578 may be positioned at a second vertical position different from the first
vertical
position. In other embodiments, the first and second arms 576 and 578 are
configured to
rotate together. Moreover, in certain embodiments, the first and second arms
576 and 578
may be rotated independently and/or together based on a selection by a welding
operator.
As may be appreciated, in other embodiments, arms may not be coupled to the
support
71
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
structure 566, but instead may be positioned at other locations, such as being
positioned
to extend vertically above one or more front legs, etc. Furthermore, in some
embodiments, a structure may be coupled to the welding stand 12 to facilitate
a welding
operator leaning and/or resting thereon (e.g., a leaning bar).
[00215] Each of the first and second arms 576 and 578 includes a shock 580 (or
another
supporting device) that facilitates holding the first and second arms 576 and
578 in
selected vertical positions. Moreover, each of the first and second arms 576
and 578
includes a braking system 582 configured to lock the first and second arms 576
and 578
individually in selected positions. In certain embodiments, the braking system
582 is
unlocked by applying a force to a handle, a switch, a pedal, and/or another
device.
[00216] The workpiece 82 is coupled to the second arm 578 for overhead and/or
vertical welding. Moreover, the First arm 576 includes the welding plate 108
for
overhead, horizontal, and/or vertical welding. As may be appreciated, the
workpiece 82,
the welding plate 108, and/or a clamp used to hold the welding plate 108 may
include
multiple markers (e.g., reflective and/or light emitting) to facilitate
tracking by the
sensing device 16. For example, in certain embodiments, the workpiece 82, the
welding
plate 108, and/or the clamp may include three markers on one surface (e.g., in
one plane),
and a fourth marker on another surface (e.g., in a different plane) to
facilitate tracking by
the sensing device 16. As illustrated, a brake release 584 is attached to each
of the first
and second arms 576 and 578 for unlocking each braking system 582. In certain
embodiments, a pull chain may extend downward from each brake release 584 to
facilitate unlocking and/or lowering the first and second arms 576 and 578,
such as while
the brake release 584 of the first and second arms 576 and 578 are vertically
above the
reach of a welding operator. Thus, the welding operator may pull a handle of
the pull
chain to unlock the braking system 582 and/or to lower the first and second
arms 576 and
578.
[00217] As illustrated, the second arm 578 includes a clamp assembly 588 for
coupling
the workpiece 82 to the second arm 578. Moreover, the clamp assembly 588
includes
multiple T-handles 590 for adjusting, tightening, securing, and/or loosening
clamps and
other portions of the clamp assembly 588. In certain embodiments, the first
arm 576 may
also include various T-handles 590 for adjusting, tightening, securing, and/or
loosening
the welding plate 108. As may be appreciated, the clamp assembly 588 may
include
multiple markers (e.g., reflective and/or light emitting) to facilitate
tracking by the
sensing device 16. For example, in certain embodiments, the clamp assembly 588
may
include three markers on one surface (e.g., in one plane), and a fourth marker
on another
72
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
surface (e.g., in a different plane) to facilitate tracking by the sensing
device 16. It
should be noted that the welding system 10 may include the clamp assembly 588
on one
or both of the first and second arms 576 and 578.
[00218] The sensing device 16 includes a removable cover 592 disposed in front
of one
or more cameras of the sensing device 16 to block environmental elements
(e.g., spatter,
smoke, heat, etc.) or other objects from contacting the sensing device 16. The
removable
cover 592 is disposed in slots 594 configured to hold the removable cover 592
in front of
the sensing device 16. In certain embodiments, the removable cover 592 may be
inserted,
removed, and/or replaced without the use of tools. As explained in detail
below, the
removable cover 592 may be disposed in front of the sensing device 16 at an
angle to
facilitate infrared light passing therethrough.
[00219] As illustrated, a linking assembly 596 may be coupled between the
first and/or
second arms 576 and 578 and the sensing device 16 to facilitate rotation of
the sensing
device 16 as the first and/or second arms 576 and 578 are rotated.
Accordingly, as the
first and/or second arms 576 and 578 are rotated, the sensing device 16 may
also rotate
such that one or more cameras of the sensing device 16 are positioned to track
a selected
welding surface. For example, if the first and/or second arms 576 and 578 are
positioned
in a lowered position, the sensing device 16 may be configured to track
welding
operations that occur on the welding surface 88. On the other hand, if the
first and/or
second arms 576 and 578 are positioned in a raised position, the sensing
device 16 may
be configured to track vertical, horizontal, and/or overhead welding
operations. In some
embodiments, the first and/or second arms 576 and 578 and the sensing device
16 may
not be mechanically linked, yet rotation of the first and/or second arms 576
and 578 may
facilitate rotation of the sensing device 16. For example, markers on the
first and/or
second arms 576 and 578 may be detected by the sensing device 16 and the
sensing
device 16 may move (e.g., using a motor) based on the sensed position of the
first and/or
second arms 576 and 578.
[00220] In some embodiments, movement of the first and/or second arms 576, 578
may
at least partially invalidate previous calibrations of the sensing device 16
with
components of the training stand 12. For example, after the sensing device 16
is
calibrated with the main (e.g., horizontal) welding surface 88 of the training
stand 12,
subsequent movement of the first and second arms 576, 578 may invalidate the
calibration of the main welding surface 88 based at least in part on movement
of the
sensing device 16. Accordingly, the sensing device 16 may be recalibrated with
the main
welding surface 88 after the operator performs welding sessions that utilize
the first
73
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
and/or second arms 576, 578. In some embodiments, the computer 18 notifies the
operator via the display 32 and/or audible notifications when the sensing
device 16 is to
be recalibrated based on detected movement of the sensing device 16 relative
to the
welding surface 88. Additionally, or in the alternative, the display 62 of the
welding
torch 14 may notify the operator when the sensing device 16 is to be
recalibrated.
[00221] FIG. 42 is a cross-sectional view of an embodiment of the welding
surface 88
of the welding stand 12 of FIG. 41. As illustrated, the welding surface 88
includes
multiple apertures 556 extending therethrough between an upper plane 597 of
the welding
surface 88 and a lower plane 598 of the welding surface 88. A bracket 599 is
positioned
beneath each aperture 556. The brackets 599 may be coupled to the welding
surface 88
using any suitable fastener or securing means. In the illustrated embodiment,
the brackets
599 are coupled to the welding surface 88 using fasteners 600 (e.g., bolts,
screws, etc.).
In other embodiments, the brackets 599 may be welded, bonded, or otherwise
secured to
the welding surface 88. Moreover, in certain embodiments, the brackets 599 may
be
mounted to a lateral side of the welding stand 12 rather than the welding
surface 88.
Markers 602 are coupled to the brackets 599 and positioned vertically below
the apertures
556, but the markers 602 are horizontally offset from the apertures 556 to
block dust
and/or spatter from contacting the markers 602 and to enable the sensing
device 16 to
sense the markers 602. In some embodiments, the markers 602 may be positioned
within
the apertures 556 and/or at any location such that the motion tracking system
is positioned
on one side of the upper plane 597 and the markers 602 are positioned on the
opposite
side of the upper plane 597. As may be appreciated, the markers 602 may be
light
reflective and/or light-emissive (e.g., LEDs 64). For example, in certain
embodiments,
the markers 602 may be formed from a light reflective tape and/or
retroflectors. In some
embodiments, the markers 602 may be spherical markers. Accordingly, the
sensing
device 16 may detect the markers 602 to determine a position and/or an
orientation of the
welding surface 88.
[00222] FIG. 43 is a cross-sectional view of an embodiment of the sensing
device 16
having the removable cover 592. As illustrated, the removable cover 592 is
disposed in
the slots 594. The sensing device 16 includes a camera 604 (e.g., infrared
camera) having
a face 605 on a side of the camera 604 having a lens 606. The removable cover
592 is
configured to enable infrared light to pass therethrough and to block
environmental
elements (e.g., spatter, smoke, heat, etc.) or other objects from contacting
the lens 606 of
the camera 604. As may be appreciated, the camera 604 may include one or more
infrared emitters 607 configured to emit infrared light. If the removable
cover 592 is
74
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
positioned directly in front of the face 605, a large amount of the infrared
light from the
infrared emitters 607 may be reflected by the removable cover 592 toward the
lens 606 of
the camera 604. Accordingly, the removable cover 592 is positioned at an angle
608
relative to the face 605 of the camera 604 to direct a substantial portion of
the infrared
light from being reflected toward the lens 606. Specifically, in certain
embodiments, the
removable cover 592 may be positioned with the angle 608 between approximately
10 to
60 degrees relative to the face 605 of the camera 604. Moreover, in other
embodiments,
the removable cover 592 may be positioned with the angle 608 between
approximately 40
to 50 degrees (e.g., approximately 45 degrees) relative to the face 605 of the
camera 604.
The removable cover 592 may be manufactured from any suitable light-
transmissive
material. For example, in certain embodiments, the removable cover 592 may be
manufactured from a polymeric material, or any other suitable material.
[00223] FIG. 44 is a perspective view of an embodiment of a calibration tool
610. As
may be appreciated, the calibration tool 610 may be used to calibrate a
workpiece, a work
surface, a weld joint, and so forth, for a welding operation. The calibration
tool 610
includes a handle 612 to facilitate gripping the calibration tool 610.
Moreover, the
calibration tool 610 is configured to be detected by the sensing device 16 for
determining
a spatial position that a tip 614 of the calibration tool 610 is contacting.
In certain
embodiments, the computer 18 coupled to the sensing device 16 may be
configured to
determine a calibration point merely by the tip 614 contacting a specific
surface. In other
embodiments, the computer 18 is configured to determine a calibration point by
a welding
operator providing input indicating that the tip 614 is contacting a
calibration point.
Furthermore, in the illustrated embodiment, the computer 18 is configured to
detect a
calibration point by the tip 614 contacting the calibration point while a
downward force is
applied to the calibration tool 610 via the handle. The downward force directs
a distance
between two adjacent markers to decrease below a predetermined threshold
thereby
indicating a selected calibration point. The sensing device 16 is configured
to detect the
change in distance between the two adjacent markers and the computer 18 is
configured
to use the change in distance to identify the calibration point.
[00224] The handle 612 is coupled to a light-transmissive cover 616. Moreover,
a
gasket 618 is coupled to one end of the light-transmissive cover 616, while an
end cap
620 is coupled to an opposite end of the light-transmissive cover 616. During
operation,
as a downward force is applied to the calibration tool 610 using the handle
612, a distance
622 between the tip 613 and the gasket 618 decreases.
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00225] FIG. 45 is a perspective view of the calibration tool 610 of FIG. 43
having the
outer cover 616 removed. The calibration tool 610 includes a first portion 624
having a
first shaft 626. Moreover, the first shaft 626 includes the tip 614 on one
end, and a
bearing 628 (or mounting structure) on an opposite end. In certain
embodiments, the
bearing 628 has a cup like structure configured to fit around a contact tip of
the welding
torch 14. Furthermore, the first shaft 626 includes a first marker 630 and a
second marker
632 coupled thereto. The calibration tool 610 also includes a second portion
634 having a
second shaft 636 with a third marker 638 coupled thereto. A spring 640 is
disposed
around the second shaft 636 between the third marker 638 and the bearing 628.
As may
be appreciated, the spring 640 facilitates the third marker 638 being directed
toward the
second marker 632. For example, as a downward force is applied to the
calibration tool
610 using the handle 612, the spring 640 is compressed to decrease a first
distance 642
between the second and third markers 632 and 638. In contrast, as the downward
force is
removed from the calibration tool 610, the spring 640 is decompressed to
increase the
first distance 642 between the second and third markers 632 and 638. A second
distance
644 between the first and second markers 630 and 632 is fixed, and a third
distance 646
between the first marker 630 and the tip 614 is also fixed.
[00226] In certain embodiments, the welding system 10 uses the calibration
tool 610 to
detect calibration points using a predetermined algorithm. For example, the
third distance
646 between the tip 614 and the closest marker to the tip 614 (e.g., the first
marker 630) is
measured. The third distance 646 is stored in memory. The second distance 644
between
two fixed markers (e.g., the first marker 630 and the second marker 632) is
measured.
The second distance 644 is also stored in memory. Furthermore, a compressed
distance
between the markers (e.g., the second and third markers 632 and 638) with the
spring 640
disposed therebetween is measured. A line is calculated between the two fixed
markers
using their x, y, z locations. The line is used to project a vector along that
line with a
length of the third distance 646 starting at the first marker 630 closest to
the tip 614. The
direction of the vector may be selected to be away from the compressed
markers.
Accordingly, the three dimensional location of the tip may be calculated using
the
markers. In some embodiments, only two markers may be used by the calibration
tool
610. In such embodiments, an assumption may be made that the marker closest to
the tip
614 is the marker closest to the work surface (e.g., table or clamp). Although
the
calibration tool 610 in the illustrated embodiment uses compression to
indicate a
calibration point, the calibration tool 610 may indicate a calibration point
in any suitable
manner, such as by uncovering a marker, covering a marker, turning on an LED
(e.g., IR
76
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
LED), turning off an LED (e.g., IR LED), enabling and/or disabling a wireless
transmission to a computer, and so forth.
[00227] The first, second, and third markers 630, 632, and 638 are spherical,
as
illustrated; however, in other embodiments, the first, second, and third
markers 630, 632,
and 638 may be any suitable shape. Moreover, the first, second, and third
markers 630,
632, and 638 have a reflective outer surface and/or include a light-emitting
device.
Accordingly, the first, second, and third markers 630, 632, and 638 may be
detected by
the sensing device 16. Therefore, the sensing device 16 is configured to
detect the first,
second, and third distances 642, 644, and 646. As the first distance 642
decreases below
a predetermined threshold, the compute' 18 is configured to identify a
calibration point.
As may be appreciated, the first, second, and third distances 642, 644, and
646 are all
different to enable the sensing device 16 and/or the computer 18 to determine
a location
of the tip 614 using the location of first, second, and third markers 630,
632, and 638.
[00228] To calibrate a workpiece, the workpiece may first be clamped to the
welding
surface 88. After the workpiece is clamped to the welding surface 88, a
welding operator
may provide input to the welding system 10 to signify that the workpiece is
ready to be
calibrated. In certain embodiments, the clamp used to secure the workpiece to
the
welding surface 88 may include markers that facilitate the welding system 10
detecting
that the workpiece is clamped to the welding surface 88. After the welding
system 10
receives an indication that the workpiece is clamped to the welding surface
88, the
welding operator uses the calibration tool 610 to identify two calibration
points on the
workpiece 82. Where the clamp assembly 588 securing the workpiece has markers
(e.g.,
visual markers 802), the measurements of the joint calibration tool 610 may be
relative to
the markers of the clamp assembly 588. Accordingly, the computer 18 may
compensate
for movement of the workpiece 82 and/or clamp assembly 588 after the joint has
been
calibrated based on identification of the clamp markers. Specifically, in the
illustrated
embodiment, the welding operator touches the tip 614 to a first calibration
point and
applies downward force using the handle 612 until the welding system 10
detects a
sufficient change in distance between adjacent markers, thereby indicating the
first
calibration point. Furthermore, the welding operator touches the tip 614 to a
second
calibration point and applies downward force using the handle 612 until the
welding
system 10 detects a sufficient change in distance between adjacent markers,
thereby
indicating the second calibration point. In certain embodiments, the welding
system 10
will only detect a calibration point if the calibration tool 610 is pressed
and held at the
calibration point for a predetermine period of time (e.g., 0.1., 0.3, 0.5,
1.0, 2.0 seconds,
77
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
and so forth). The welding system 10 may be configured to capture multiple
calibration
points (e.g., 50, 100, etc.) over the predetermined period of time and average
them
together. If movement of the multiple calibration points greater than a
predetermined
threshold is detected, the calibration may be rejected and done over.
Furthermore, if a
first point is successfully calibrated, a second point may be required to be a
minimum
distance away from the first point (e.g., 2, 4, 6 inches, etc.). If the second
point is not the
minimum distance away from the first point, calibration of the second point
may be
rejected and done over. The welding system 10 uses the two calibration points
to
calibrate the workpiece.
[00229] In certain embodiments, the welding system 10 may determine a virtual
line
between the first and second calibration points. The virtual line may be
infinitely long
and extend beyond the first and second calibration points. The virtual line
represents a
weld joint. Various welding parameters (e.g., work angle, travel angle,
contact tip-to-
work distance (CTWD), aim, travel speed, etc.) may be in reference to this
virtual line.
Accordingly, the virtual line may be important for calculating the various
welding
parameters.
[00230] It should be noted that in certain embodiments the first, second, and
third
markers 630, 632, and 638 are all disposed vertically above the handle 612,
while in other
embodiments, one or more of the first, second, and third markers 630, 632, and
638 are
disposed vertically below the handle 612 to enable a greater distance between
adjacent
markers. In certain embodiments, the first portion 624 may be removed from the
calibration tool 610 and coupled to a contact tip of the welding torch 14 for
calibrating the
welding torch 14. As may be appreciated, the tip 614 of the calibration tool
610 may be
any suitable shape. FIGS. 46 through 48 illustrate a few embodiments of shapes
the tip
614 may have.
[00231] Specifically, FIG. 46 is a side view of an embodiment of a pointed tip
648 of
the calibration tool 610. Using the pointed tip 648, the calibration tool 610
may be used
for calibrating various joints on the workpiece 82, such as the illustrated
fillet joint, a lap
joint, a butt joint with no root opening, and so forth. Moreover, FIG. 47 is a
side view of
an embodiment of a rounded tip 650 of the calibration tool 610. Using the
rounded tip
650, the calibration tool 610 may be used for calibrating various joints on
the workpiece
82, such as the illustrated fillet joint, a butt joint with a root opening, a
lap joint, and so
forth. Furthermore, FIG. 48 is a side view of an embodiment of the rounded tip
650 of
the calibration tool 610 having a small pointed tip 652. Using the small
pointed tip 652
on the end of the rounded tip 650, the calibration tool 610 may be used for
calibrating
78
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
various joints on the workpiece 82, such as the illustrated butt joint with no
root opening,
a filled joint, a lap joint, and so forth. In certain embodiments, the tip of
the calibration
tool 610 may be removable and/or reversible, such that the tip includes two
different
types of tips (e.g., one type of tip on each opposing end). Accordingly, a
welding
operator may select the type of tip used by the calibration tool 610. In
certain
embodiments, one or more markers may be coupled to the calibration tool 610 if
the
calibration tool 610 is reversible. The one or more markers may be used to
indicate
which side of the tip is being used so that the welding system 10 may use a
suitable
marker-tip distance for calibration calculations.
[00232] FIG. 49 is an embodiment of a method 654 for detecting a calibration
point.
The sensing device 16 (or another component of the welding system 10) detects
a first
marker of the calibration tool 610, a second marker of the calibration tool
610, and/or a
third marker of the calibration tool 610 (block 656). Moreover, the welding
system 10
determines a first distance between the first marker and the second marker
and/or a
second distance between the second marker and the third marker (block 658).
Furthermore, the welding system 10 detects whether the first distance or the
second
distance is within a predetermined distance range (e.g., signifying a
compressed distance)
(block 660).
[00233] The welding system 10 determines a position of a calibration point if
the first
distance or the second distance is within the predetermined distance range
(e.g.,
signifying a compressed distance) (block 662). In addition, the welding system
10
determines a location of a calibration tip of the calibration tool 610
relative to at least one
of the first, second, and third markers to determine the spatial position of
the calibration
point (block 664).
[00234] FIG. 50 is an embodiment of a method 666 for determining a welding
score
based on a welding path. Accordingly, the method 666 may be used for
evaluating a
welding operation. The sensing device 16 (or any suitable motion tracking
system)
detects an initial position of the welding operation (block 668). Moreover,
the sensing
device 16 detects a terminal position of the welding operation (block 670). In
addition,
the sensing device 16 detects a spatial path of the welding operation between
the initial
position and the terminal position (block 672). For example, the sensing
device 16 tracks
a position and/or an orientation of the welding operation. The welding system
10
determines a score of the welding operation based at least partly on the
spatial path of the
welding operation (e.g., whether the welding operation receives a passing
score based on
the spatial path of the welding operation) (block 674). For example, in
certain
79
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
embodiments, the spatial path of the welding operation may alone be used to
determine
whether a welding score fails. In some embodiments, the sensing device 16 may
be used
to detect a calibration point that corresponds to the initial position and/or
a calibration
point that corresponds to the terminal position.
[00235] For example, in certain embodiments, the welding system 10 determines
whether the welding operation receives a passing score by determining whether:
a
distance of the path of the welding operation is greater than a predetermined
lower
threshold, the distance of the path of the welding operation is less than the
predetermined
lower threshold, the distance of the path of the welding operation is greater
than a
predetermined upper threshold, the distance of the path of the welding
operation is less
than the predetermined upper threshold, the path of the welding operation
deviates
substantially from a predetermined path of the welding operation, the path of
the welding
operation indicates that multiple welding passes occurred at a single location
along a weld
joint, a time of welding along the path of the welding operation is greater
than a
predetermined lower threshold, the time of welding along the path of the
welding
operation is less than the predetermined lower threshold, the time of welding
along the
path of the welding operation is greater than a predetermined upper threshold,
and/or the
time of welding along the path of the welding operation is less than the
predetermined
upper threshold.
[00236] Moreover, in some embodiments, for the welding system 10 to determine
a
score, the welding system 10 may disregard a first portion of the path
adjacent to the
initial position and a second portion of the path adjacent to the terminal
position. For
example, the first portion of the path and the second portion of the path may
include a
distance of approximately 0.5 inches. Moreover, in other embodiments, the
first portion
of the path and the second portion of the path may include portions of the
path formed
during a time of approximately 0.5 seconds.
[00237] FIG. 51 is an embodiment of a method 676 for transitioning between
welding
modes using a user interface of the welding torch 14. The control circuitry 52
of the
welding torch 14 (or control circuitry of another device) detects a signal
produced by a
user interface of the welding torch 14 indicating a request to change the
welding mode
(e.g., welding training mode) (block 678). Moreover, the control circuitry 52
determines
a length of time that the signal is detected (block 680). The control
circuitry 52 is
configured to change the welding mode from a simulation mode (e.g., virtual
reality
mode, augmented reality mode, etc.) to a live welding mode if the length of
time that the
signal is detected is greater than a predetermined threshold (block 682).
Conversely, the
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
control circuitry 52 is configured to change the welding mode from the live
welding mode
to the simulation mode merely if the signal is detected (block 684) (e.g.,
there is no length
of time that the signal is to be detected before a transition from the live
welding mode is
made). The control circuitry 52 is configured to direct the welding torch 14
to vibrate
after changing to the live welding mode (block 686). For example, the control
circuitry
52 may be configured to direct the welding torch 14 to vibrate two or more
times (e.g.,
vibration pulses) to indicate a change to the live welding mode.
[00238] Moreover, the control circuitry 52 may be configured to direct the
welding
torch 14 to vibrate any suitable number of times (e.g., predetermined number
of times) to
indicate a change to the live welding mode. As may be appreciated, the signal
indicating
the request to change the welding mode may be produced by pressing a button on
the user
interface of the welding torch 14. As such, the welding mode may be changed
from the
live welding mode by pressing and releasing the button (e.g., the button does
not have to
be held down for a predetermined period of time). In contrast, the welding
mode may be
changed from the simulation mode to the live welding mode by pressing and
holding the
button for a predetermined period of time. In certain embodiments, an audible
sound may
be produced after changing welding modes. Furthermore, in some embodiments an
audible sound and a vibration may accompany any change between welding modes.
In
addition, a display of the welding torch 14 may show the welding mode after
changing
the welding mode. In some embodiments, the display may flash the welding mode
on the
display a predetermined number of times.
[00239] FIG. 52 is a block diagram of an embodiment of a remote training
system, such
as a helmet training system 41. In some embodiments, the helmet training
system 41
facilitates acquisition of welding parameters (e.g., a work angle, a travel
angle, a contact
tip to workpiece distance, a welding torch travel speed, a welding torch
orientation, a
welding torch position, an aim of the welding torch relative to the joint of
the workpiece,
and so forth) of a weld process and/or arc parameters (e.g., a welding
voltage, a welding
current, wire feed speed) without utilizing the stand 12 described above. As
may be
appreciated, operators utilize helmets during welding, and the helmet training
system 41
integrates the one or more sensing devices 16 (e.g., emitters, receivers) into
the helmet.
Various embodiments of the helmet 41 may incorporate the computer 18 (e.g., as
a
controller), couple to the computer 18 via a wired connection, or couple to
the computer
via a wireless connection. In some embodiments, the helmet training system 41
utilizes a
lens 700 to shield the operator from the arc during a weld process. In some
embodiments,
the display 32 is disposed within the helmet training system 41 such that the
operator may
81
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
view the display 32 and the lens 700 in preparation for or during a weld
process. The
display 32 may be a heads-up display that is at least partially overlaid with
the operator's
view through the helmet training system 41. As may be appreciated, the welding
software may utilize the display 32 disposed within the helmet training system
41 to
present information to the operator in a similar manner as described above
with the
display 32 external to the helmet 41. For example, the display 32 of the
helmet 41 may
shows a visual representation (e.g., number, text, color, arrow, graph) of one
or more arc
parameters, one or more welding parameters, or any combination thereof. That
is, the
display 32 of the helmet 41 may display a visual representation of a welding
parameter in
relation to a predetermined threshold range and/or to a target value for the
welding
parameter according to a selected welding assignment. In some embodiments, the
display
32 may show a graphical representation of a welding parameter or an arc
parameter in
relation to a threshold similar to the displays 62 of the torch 14 described
above with FIG.
34. Additionally, the display 32 of the helmet 41 may show one or more
parameters (e.g.,
arc parameters, welding parameters) before, during, or after the operator
using the helmet
41 performs a welding session (e.g., welding assignment).
[00240] The helmet training system 41 utilizes one or more integrated sensing
devices
16 to determine the welding parameters from observations of the welding torch
14 and the
workpiece 82. The one or more sensing devices 16 of the helmet training system
41 may
include one or more receivers 702 including, but not limited to, microphones,
cameras,
infrared receivers, or any combination thereof Moreover, in some embodiments,
one or
more emitters 704 may emit energy signals (e.g., infrared light, visible
light,
electromagnetic waves, acoustic waves), and reflections of the energy signals
may be
received by the one or more receivers 702. In some embodiments, fiducial
points 706
(e.g., markers) of the welding torch 14 and/or the workpiece 82 are active
markers (e.g.,
LEDs) that emit energy signals, as discussed above with FIGS. 31 and 32.
Accordingly,
the one or more receivers 702 of the helmet training system 41 may receive
energy
signals emitted from active markers. In particular, the receivers 702 may
identify fiducial
points (e.g., markers) 706 disposed on the workpiece 82, the work environment
708,
and/or the welding torch 14, and the receivers 702 may send feedback signals
to the
computer 18 (e.g., controller) that correspond to the identified fiducial
points. As
discussed above, arrangements of the identified fiducial points 706 may enable
the
sensing device 16 to determine the position and orientation of the welding
torch 14 in the
work environment 708. The computer 18 (e.g., controller) may determine the
distances
between the fiducial points 706 and may determine the welding parameters based
at least
in part on the feedback from the receivers 702. Additionally, the computer 18
(e.g.,
82
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
controller) may be coupled to sensors within the welding power supply 28, the
wire
feeder 30, and/or the welding torch 14 to determine the arc parameters of the
welding
process.
[00241] In some embodiments, the helmet training system 41 may determine the
types
of components of the welding system 10 from the identified fiducial points.
For example,
the fiducial points of a TIG welding torch are different than the fiducial
points of a MIG
welding torch. Moreover, the welding software 244 executed by the computer 18
may
control the welding power supply 28 and/or the wire feeder 30 based at least
in part on
the determined types of components of the welding system 10. For example, the
helmet
training system 41 may control the arc parameters (e.g., weld voltage, weld
current) based
on the type of welding torch 14, the welding position of the workpiece 82,
and/or the
workpiece material. The helmet training system 41 may also control the arc
parameters
based on the experience or certification status of the operator associated
with the
registration number 293. For example, the helmet training system 41 may
control the
welding power supply 28 to reduce the weld current available for selection by
an operator
with less than a predetermined threshold of experience with weld processes on
relatively
thin workpieces or in the overhead welding position. In some embodiments, the
one or
more sensing devices 16 of the helmet training system 41 include inertial
sensors 709
(e.g., gyroscopes and accelerometers) that are coupled to the computer 18. The
inertial
sensors 709 may enable the computer 18 to determine the orientation and
relative
movement of the helmet training system 41 within the environment.
[00242] In some embodiments, the helmet training system 41 includes the
operator
identification system 43. The operator identification system 43 may utilize a
scanner 710
(e.g., fingerprint scanner, retinal scanner, barcode scanner) or an
input/output device 712
(e.g., keyboard, touch screen) to receive the identification information from
the operator.
As discussed above, the identification information may be associated with the
registration
number 293 unique to the operator. Welding data received by the computer 18
(e.g.,
controller) may be stored in the memory 22 or storage 24, as discussed above.
The
computer 18 (e.g., controller) may associate the received and stored welding
data with the
registration number 293 of the identified operator. The network device 36
couples to the
network 38 via a wired or wireless connection to store the welding data 327
from the
helmet training system 41 in the data storage system 318 (e.g., cloud storage
system). In
some embodiments the helmet training system 41 may store welding data locally
within
the storage 24 of the computer 18 while the helmet training system 41 is
operated
remotely (e.g., production floor, worksite). The helmet training system 41 may
be
83
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
configured to upload stored welding data to the data storage system 318 (e.g.,
cloud
storage system) upon connection with the network 38, such as when the operator
stows
the helmet training system 41 at the end of a shift or at the end of a work
week. In some
embodiments, the network device 36 of the helmet training system 41 may stream
welding data to the data storage system 318 (e.g., cloud storage system) via
the network
38 during and/or after the operator performs a welding session.
[00243] As may be appreciated, using the systems, devices, and techniques
described
herein, a welding system 10 may be provided for training welding operators.
The
welding system 10 may be cost efficient and may enable welding students to
receive high
quality hands on training. While the welding systems 10 described herein may
be utilized
for receiving and correlating weld data 327 for training and educational
purposes, it may
be appreciated that the welding systems 10 described herein may be utilized to
monitor
operators and obtain weld data 327 from non-training weld processes. That is,
weld data
obtained from non-training weld processes may be utilized to monitor weld
quality and/or
weld productivity of previously trained operators. For example, the weld data
327 may
be utilized to verify that welding procedures for a particular weld process
were executed.
As illustrated in FIG. 52, multiple welding systems 10 may be coupled to the
data storage
system 318 (e.g., cloud storage system) via the network 38. Accordingly, the
data storage
system 318 may receive welding data 327 associated with registration numbers
293 from
multiple welding systems 10 (e.g., systems with training stands 12, helmet
training
systems 41). Moreover, welding data associated with each registration number
293 may
include serial numbers 329 corresponding to other welding sessions performed
by the
respective operator. Moreover, as utilized herein, the term "assignment" is
not to be
limited to weld tests performed by the operator for training and educational
purposes.
That is, assignments may include non-training weld processes, training
simulated weld
processes, and training live weld processes, among others. Moreover, the term
"welding
session" may include, but is not limited to, welding assignments, welds
performed on a
production floor, welds performed at a worksite, or any combination thereof.
[00244] The welding data 327 of the data storage system 318 (e.g., cloud
storage
system) may be monitored and/or managed via a remote computer 44 coupled to
the
network 38. The stored welding data 327 corresponds to weld processes (e.g.,
live,
simulated, virtual reality) performed by various operators at one or more
locations. FIG.
53 illustrates an embodiment of a user viewable dashboard screen 720 that may
be
utilized by a manager or instructor to monitor and/or analyze the stored
welding data 327
in the data storage system 318. The welding data 327 may be organized by
characteristics
84
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
(e.g., filter criteria) of the welding data 327. Characteristics of the
welding data 327 that
may be utilized for sorting the welding data 327 may include, but are not
limited to, one
or more organizations 722 (e.g., training center, employer, work site), one or
more groups
724 (e.g., shift) within the organization, one or more registration numbers
726 of
operators within the selected organizations 722 or groups 724, time (e.g.,
dates 728, time
of day) welding processes were performed, systems 725, and weld
identifications 730
(e.g., particular welding assignments, unique identifier associated with a
welding session,
workpiece part number, or types of welds). For example, welding data 327
associated
with one or more registration numbers 293 over a period of time (e.g., dates
728) and
across different organizations 722 or different groups 724 may be displayed on
the
dashboard screen 720. Accordingly, the manager or instructor may track the
progress of
an operator over time across different organizations via welding data
associated with the
registration number 293 of the operator. In some embodiments, a welding data
type 732
(e.g., live training, live non-training, simulated, virtual reality) may be
used to filter the
viewed welding data. Moreover, a welding process type 735 (e.g., GMAW, TIG,
SMAW) may be used to filter the viewed welding data in some embodiments. As
may be
appreciated, welding data for each welding session (e.g., welding assignment)
may be
sorted (e.g., filtered) into various subsets. As illustrated in FIG. 53, live,
non-training
welds performed by an operator with registration number 58,794 on June 25,
2014 with
system I may be displayed on the dashboard screen 720 via selection of one or
more of
the appropriate fields for registration numbers 726, systems 725, dates 728,
and welding
data types 732.
[00245] Additionally, or in the alternative, the instructor may utilize a
search control
733 to search for welding data 327 associated with various parameters (e.g.,
serial
numbers 329, organization 722, group 724, operator name, registration number
726, time,
welding data type) corresponding to welding sessions performed by operators.
Upon
selection of a set of welding data, a section 734 of the dashboard screen 720
may display
graphical indicia (e.g., a score) associated with the selected welding data
and/or at least a
portion of the welding data. Moreover, details of the welding data 327 may be
viewed
upon selection of the welding data 327 and a user control 736. The dashboard
screen 720
may enable the manager or instructor to save or edit the arrangement of the
welding data
on the dashboard screen 720. Furthermore, the dashboard screen 720 may enable
the
manager or instructor to export at least a portion of the welding data 327.
For example,
the manager may export the welding data 327 corresponding to the sessions
performed by
a set of operators over the course of a day or a week. The dashboard screen
720 may
enable the manager or instructor to export the welding data 327 in various
formats,
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
including but not limited to a comma-separated values (CSV) file, a
spreadsheet file, and
a text file. In some embodiments, the manager or instructor may remove a
subset of
welding data (e.g., demonstration welding data) from the data storage system
(e.g., cloud
storage system). Additionally, or in the alternative, the manager or
instructor may edit
the welding data type 732, such as to revise training weld data as non-
training weld data,
revise the operator associated with welding data, revise the time associated
with welding
data, and so forth.
[00246] As may be appreciated, the dashboard screen 720 may enable the manager
or
instructor to monitor, compare, and analyze the welding data associated with
one or more
registration numbers 726. In some embodiments, the performance, experience,
and
historical data of welding operators may be compared across organizations or
groups via
the registration numbers 726. In some embodiments, the dashboard screen 720
may
enable the manager or instructor to set goals or provide assignments to
desired
registration numbers 726. Furthermore, the manager or instructor may monitor
and adjust
previously established goals. The dashboard screen 720 may enable notes or
comments
regarding the welding performance associated with one or more registration
numbers to
be entered and stored with the welding data.
[00247] FIG. 54 illustrates an embodiment of the welding system 10 in the
welding
environment 11 that may track the position and/or orientation of the welding
torch 14
without utilizing the markers 474 on the welding torch 14 discussed above in
FIGS. 30-
32. The welding system 10 of FIG. 54 may track the position and/or orientation
of the
welding torch 14 prior to conducting a welding process. In some embodiments,
the
welding system 10 of FIG. 54 may track the position and/or orientation of the
welding
torch 14 during the welding process. One or more depth sensors 750 are
arranged at
various positions in the welding environment 11, such as a first depth sensor
752 above
the workpiece 82, a second depth sensor 754 integrated with the welding helmet
41 (e.g.,
helmet training system), or a third depth sensor 756 horizontal with the
workpiece 82, or
any combination thereof. Each depth sensor 750 may have an emitter configured
to emit
a visible pattern at a desired wavelength and a camera configured to monitor
the visible
pattern in the welding environment 11. The visible pattern emitted by each
depth sensor
750 may be the same or different than the visible pattern emitted by other
depth sensors
750. Moreover, the desired wavelength of the visible pattern for each depth
sensor 750
may be the same or different among the depth sensors 750. FIG. 54 illustrates
respective
emitted visible patterns from each depth sensor 750 with solid arrows, and
FIG. 54
illustrates the patterns reflected toward each depth sensor 750 with dashed
arrows. The
86
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
wavelength of the visible patterns may be within the infrared, visible, or
ultraviolet
spectrum (e.g., approximately 1 mm to 120 nm). The emitter of each depth
sensor emits
the respective visible pattern into the welding environment 11 onto the
welding surface
88, the workpiece 82, the welding torch 14, or the operator, or any
combination thereof.
By observing the visible pattern reflected in the welding environment 11, the
computer 18
may track objects (e.g., welding torch 14, operator) moving within the welding
environment. Additionally, the computer 18 may identify the shape of the
workpiece 82
or a welding joint path on the workpiece 82 based upon observations of the
visible pattern
in the welding environment 11.
[00248] As may be appreciated, an arc 758 struck by the welding torch 14 with
the
workpiece 82 emits electromagnetic radiation. The wavelengths and the
intensity of the
emissions at each wavelength of the electromagnetic radiation emitted by the
arc may be
based on a variety of factors including, but not limited to, the workpiece
material, the
electrode material, the shielding gas composition, the weld voltage, the weld
current, the
type of welding process (e.g., SMAW, MIG, TIG). In some embodiments, the
sensing
device 16 includes a light sensor configured to detect the wavelengths
electromagnetic
radiation of the welding environment 11 prior to and during welding processes.
The
computer 18 of the welding system 10 may determine the emitted wavelengths and
the
intensity of the emitted wavelengths from the emitted based on feedback
received from
the sensing device 16. Additionally, or in the alternative, the computer 18
may determine
the emitted wavelengths and the intensity of the emitted wavelengths from data
stored in
memory of the computer 18 or the data storage system 318, the welding
parameters, and
the arc parameters. For example, the computer 18 may determine that the arc
for steel
MIG welding has different predominant wavelengths than the arc for aluminum
TIG
welding.
[00249] In some embodiments, the wavelengths of the one or more visible
patterns
emitted by the depth sensors 750 may be selected to reduce noise from the arc
758 during
welding processes. Furthermore, in some embodiments, the depth sensors 750 can
vary
the wavelength of the emitted visible pattern. Accordingly, the computer 18
may
adaptively control the wavelengths of the emitted visible patterns to improve
the accuracy
of the position and orientation determinations from the depth sensor feedback.
That is,
the computer 18 may control the depth sensors 750 to emit the visible pattern
in a first
range for steel MIG welding, and to emit the visible pattern in a different
second range
for aluminum TIG welding. Additionally, or in the alternative, the computer 18
may
87
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
filter the signals received by the depth sensors 750 to reduce or eliminate
the effects of
the emissions by the arc 758.
[00250] Furthermore, the arc 758 may not be continuous during the weld
formation for
some welding processes (e.g., short circuit MIG). The emitted electromagnetic
radiation
when the arc 758 is out (e.g., during a short circuit phase of the welding
process) may be
substantially less than the emitted electromagnetic radiation when the arc 758
is live. The
computer 18 may control the depth sensors 750 to emit the respective visible
patterns
when the arc 758 is out (e.g., extinguished) rather than when the arc 758 is
live, thereby
enabling the depth sensors 750 to track the position and/or orientation of the
welding
torch 14 during the weld process. That is, the computer 18 may synchronize the
emitted
visible patterns to substantially coincide with the short circuit phases of
the welding
process. The short circuit frequency may be greater than 30 Hz, thereby
enabling the
computer 18 to determine the position and/or the orientation of the welding
torch 14 in
the welding environment 11 at approximately 30 Hz or more.
[00251] Additionally, or in the alternative to the depth sensors 750, the
welding system
may utilize a local positioning system 762 to determine the position of the
welding
torch 14 within the welding environment 11. Beacons 764 of the local
positioning system
762 are arranged at known locations about the welding environment and emit
signals 766
(e.g., ultrasonic, RF) received via one or more microphones 429 on the welding
torch.
The computer 18 coupled to the one or more microphones 429 may determine the
location of the welding torch 14 within the welding environment 11 based at
least in part
on received signals from three or more beacons 764. The computer may determine
the
position of the welding torch 14 via triangulation, trilateration, or
multilateration. More
than three beacons 764 of the local positioning system 762 distributed about
the welding
environment 11 increase the robustness of the local positioning system 762 and
increase
the likelihood that the welding torch 14 is within a line of sight of at least
three beacons
764 at any point along a workpiece 82 having a complex shape (e.g., pipe). In
some
embodiments, beacons 764 may be positioned with depth sensors 750 or
components of
the welding system 10, such as the welding power supply 28.
[00252] Returning to FIGS. 31 and 32, embodiments of the welding torch 14 may
have
multiple sets of visual markers 802 to facilitate detection of the position
and the
orientation of the welding torch 14 relative to the training stand 12 and to
the workpiece
82. In some embodiments, the sensing device 16 may detect and track multiple
sets of
visual markers 802 at the same time (e.g., approximately simultaneously).
However, the
controller (e.g., computer 18) coupled to the sensing device 16 may only store
or
88
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
otherwise utilize tracking data related to one set of visual markers 802, such
as the set of
visual markers 802 that is the most directed towards the sensing device 16. As
discussed
herein, visual markers (e.g., LEDs 64) are considered to be directed towards a
sensing
device 16 that includes multiple cameras when the visual markers are directed
towards a
fixed point in space with a known position relative to each of the cameras of
the sensing
device 16. For example, where the sensing device 16 has multiple cameras
arranged in an
array, the fixed point may be a centroid of the multiple cameras. In some
embodiments,
the centroid is a central location relative to each camera of the sensing
device, for
example equidistant from the respective lenses of the cameras. In some
embodiments, the
visual markers 802 are LEDs 64 that may be independently controlled. For
example,
each set (e.g., first set 804, second set 806, third set 810) of LEDs 64 may
be separately
controlled so that only one set is turned on and emits light at a time. In
some
embodiments, the visual markers 802 may be powered directly or indirectly via
the weld
cable coupled to the welding torch 14. For example, the visual markers 802
(e.g., LEDs
64) may receive power from a power port of the welding torch 14. Additionally,
or in the
alternative, an auxiliary cable bundled with or separate from the weld cable
may power
the visual markers 802. Reducing the quantity of visual markers 802 detectable
by the
sensing device 16 may reduce the complexity of the determination of the
position and the
orientation of the welding torch 14. That is, the sensing device 16 may
readily determine
which side (e.g., top, left, right) of the welding torch 14 is facing the
sensing device 16
based on the arrangement of the detected LEDs 64 when only one set of LEDs 64
is
turned on at a time. The control circuitry 52 of the welding torch 14 may
control the
LEDs 64 so that at least one set of the LEDs 64 is detectable by the sensing
device 16
during a simulated or live welding session (e.g., live welding assignment). In
some
embodiments in which the welding torch 14 has at least one set of passive
visual markers
802 (e.g., retroreflectors) oriented in a known direction, the control
circuitry 52 such may
control the LEDs 64 so that none of the sets of LEDs 64 are turned on when the
passive
visual markers 802 are detectable by the sensing device 16.
[00253] As may be appreciated, the arrangement of the visual markers 802
relative to
the welding torch 14 may be calibrated with the sensing device 16 so that the
orientation
direction (e.g., 784, 808, 812) of each set of visual markers 802 may be
utilized to
determine the position and the orientation of the welding torch during live
and/or training
(e.g., simulated, augmented reality, virtual reality) welding operations. FIG.
77 illustrates
a method 1100 that may be utilized to calibrate the visual markers 802 (e.g.,
LEDs 64) of
the welding torch 14. Calibration markers (e.g., secondary visual markers) may
be
coupled (block 1102) to the welding torch, such as at the tip of the welding
torch, such
89
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
that the calibration markers are aligned with the axis 53 of the welding torch
14. The
calibration markers may include, but are not limited to two or more active or
passive
markers, similar to the calibration tool 610 illustrated in FIGS. 44 and 45.
The torch is
placed (block 1104) in a holder (e.g., clamp, vice) such that the calibration
markers and a
first set of visual markers 802 is viewable by the sensing device 16. Where
the first
viewable set of visual markers 802 has active markers (e.g., LEDs 64), the
first set of
visual markers 802 is turned on (block 1106). The sensing device 16 detects
(block 1108)
the calibration markers coupled to the torch and the first viewable set of
visual markers
802. In some embodiments, the processor 20 coupled to the sensing device 16
determines
(block 1110) the orientation of the welding torch 14 based on the detected
calibration
markers separate from the first viewable set of visual markers 802. For
example, the
processor 20 may determine the orientation of the axis 53 of the welding torch
14 in the
known position based at least in part on known relationship between the
calibration
markers coupled to the welding torch 14. In some embodiments, the processor
may
determine (block 1110) the orientation of the welding torch 14 in a similar
manner as
discussed above with the markers 630, 632 of the calibration tool 610. In some
embodiments, the processor 20 may determine (block 1112) the orientation of
the first set
of visual markers 802 relative to the determined orientation of the welding
torch 14.
Additionally, or in the alternative, the processor 20 may determine (block
1112) the
orientation of the first set of visual markers 802 relative to a rigid body
model of the first
set of visual markers 802 based at least in part on a relative position of two
or more visual
markers of the first set of visual markers 802. The first set of visual
markers 802 is
positioned on the welding torch 14, as described above with FIGS. 31 and 32,
such that
the arrangement detected by the sensing device 16 may be recognized by code
executed
by the processor 20 to determine the corresponding rigid body model. Upon
recognition
of the arrangement of the first set of visual markers 802, the processor 20
determines
(block 1114) the orientations of the other sets of visual markers 802 based on
the known
geometric relationships between the sets of visual markers 802 of the welding
torch 14.
Moreover, the processor 20 determines (block 1116) the orientation of the
display 62 of
the welding torch 14 based on the known geometric relationships between the
sets of
visual markers 802 about the welding torch 14, recognition of the display 62
by the
sensing device 16, recognition of a particular pattern (e.g., calibration
pattern,
manufacturer logo) of the display 62 by the sensing device, or any combination
thereof.
Once the welding torch 14 and the sets of visual markers 802 coupled thereto
are
calibrated, such as by the method 1100, the welding torch 14 may be utilized
for live
and/or training welding operations. Determination of the orientation of the
display 62
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
relative to the axis 53 of the welding torch 14 and/or to the sets of visual
markers 802
enables the graphical representations on the display 62 to correspond to the
orientation of
the display 62 to the joint.
[00254] The processor 20 coupled to the sensing device 16 and/or the control
circuitry
52 may determine which set of LEDs 64 to turn on to track the movement and
position of
the welding torch 14 utilizing a method 860 illustrated in FIG. 55. As may be
appreciated, the method 860 may be performed by a controller, which includes,
but is not
limited to the processor 20, the control circuitry 52, or a combination
thereof. Generally,
the controller may turn on each set of LEDs 64 sequentially for a detection
interval, then
compare the response detected by the sensing device 16 from each set to
determine which
set of LEDs 64 enables better tracking data. For example, the controller may
turn on
(block 862) the left set (e.g., second set 806) of LEDs 64. The controller
determines
(node 864) whether the left set of LEDs 64 is detected within the detection
interval (e.g.,
approximately 50 to 500, 100 to 300, or approximately 200 ms). If the left set
of LEDs
64 is not detected at node 864, the controller may turn on (block 866) the top
set (e.g.,
first set 802) of LEDs 64. The controller then determines (node 868) whether
the top set
of LEDs 64 is detected. If the top set of LEDs 64 is not detected at node 868,
the
controller may turn on (block 870) the right set (e.g., third set 810) of LEDs
64. The
controller then determines (node 872) whether the right set of LEDs 64 is
detected. If the
right set of LEDs 64 is not detected at node 872, then the controller may
return to the start
of the method 860, and turn on (block 862) the left set of LEDs 64. In some
embodiments, the controller may repeat method 860 to turn on each set of LEDs
64 in
sequence until at least one set of LEDs 64 is detected during the detection
interval.
[00255] As discussed herein, when the controller determines whether a set of
LEDs 64
is detected (e.g., nodes 864, 868, 872), the controller may determine whether
the
threshold quantity (e.g., three, four, five, or more) of LEDs 64 for the
respective set is
detected. As discussed above, the threshold quantity may be less than or equal
to the total
quantity of visual markers (e.g., LEDs 64) of a respective set. In some
embodiments, the
controller is configured to determine a rigid body (RB) model of the welding
torch 14
upon detection of the threshold quantity of LEDs 64. The controller determines
(nodes
874) which rigid body model corresponding to tracked sets of LEDs 64 is the
closest to an
ideal model. As may be appreciated, the ideal model may correspond to when a
set of
LEDs 64 is directed directly towards the sensing device 16 (e.g., one or more
cameras)
within a predetermined range of angles (e.g., approximately 20, 30, 45, or 60
degrees).
Furthermore, each set of LEDs 64 may have its own predetermined range of
angles
91
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
between the axis (e.g., direction 784 for the first set 804, direction 808 for
the second set
806, direction 812 for the third set 810) of the LEDs 64 and the sensing
device 16 for
which it is the most ideal, such as approximately 45 degrees for the top set
of LEDs 64
and approximately 30 degrees for the left and right sets of LEDs 64. In some
embodiments, the first set 802 of LEDs 64 may approximate the ideal model when
the Y-
axis 784 relative to the welding torch 14 is directed to the sensing device
16. If the
determined rigid body model of the welding torch 14 corresponding to one set
of LEDs
64 (e.g., second set 806) does not approximate the ideal model, the controller
may turn
off the one set and turn on the next set (e.g., first set 802) of LEDs 64 to
determine if an
approximately ideal rigid body model may be detected with the next set.
Additionally, or
in the alternative, the controller may utilize the detected non-ideal angle of
one set (e.g.,
first set 804) of LEDs 64 and the predetermined relative angles of the other
sets (e.g.,
second set 806, third set 810) of LEDs 64 to determine which set (e.g., third
set 810) of
LEDs 64 corresponds closest to the ideal model, thereby enabling the
controller to turn on
that set (e.g., third set 810) of LEDs 64 directly without turning on other
sets (e.g., second
set 806). The controller may be configured to latch to a set of turned on LEDs
64 when
the determined rigid body model approximates the ideal model.
[00256] In some embodiments, a set of LEDs 64 may approximate the ideal model
when LEDs 64 arc oriented within approximately 20 to 60 degrees or
approximately 30 to
50 degrees of the sensing device 16. The light emitted from each LED 64 may be
viewable from points within approximately 45, 60, 70, or 80 degrees or more of
the axis
of the LED 64. However, while each LED 64 may be viewable by the sensing
device 16
(e.g., one or more cameras) within a relatively wide angle cone (e.g.,
approximately 45 to
80 degrees), each LED 64 may have a half intensity angle where the beyond
which the
intensity of the viewable light from the LED 64 is less than half the
intensity along the
axis (e.g., 0 degrees) of the LED 64. As discussed herein, an LED 64 or visual
marker
oriented toward the sensing device 16 (e.g., camera) is viewable by the
sensing device 16.
For example, a visual marker is oriented toward the sensing device 16 when the
axis of
the visual marker is unobscured and within approximately 80 degrees relative
to a line of
sight to the sensing device 16. Accordingly, based on the orientation of the
sets of LEDs
64, some embodiments of the controller may be able to determine a rigid body
model
corresponding to more than one set of LEDs 64 at a time.
[00257] Where multiple rigid body models may be determined, the controller may
determine which set of LEDs 64 is most oriented toward the sensing device 16.
Moreover, the controller may utilize a hysteresis control when the welding
torch
92
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
orientation fluctuates near an angles where multiple rigid body models may be
determined for respective sets of LEDs 64. As discussed above, the first set
802 of LEDs
64 may be oriented approximately along the Y-axis 784, and the second set 806
of LEDs
64 may be oriented so that the second direction 808 is offset approximately 45
degrees
from the Y-axis 784. In some embodiments, rigid body models may be reliably
determined for each respective set of LEDs 64 oriented within approximately
300 (e.g.,
half intensity angle) of the line of sight to the sensing device 16, such that
rigid body
models for each respective set (e.g., 802, 806) may be determined for an
overlapping
range of approximately 15 or more. As may be appreciated, other arrangements
of sets
of LEDs 64 with different offsets relative to the Y-axis 784 or different half
intensity
angles may have different overlapping ranges (e.g., approximately 5 to 45
degrees, 10 to
30 degrees, or 15 to 25 degrees) between the sets of LEDs 64. Therefore,
overlapping
viewable ranges of the sets of LEDs 64 may reduce or eliminate positions
(e.g., dead
zones) of the welding torch 14 for which at least one set of LEDs 64 is not
detectable
(e.g., viewable) by the sensing device 16. For example, the controller
utilizing the
hysteresis control may remain latched to the first set 804 of LEDs 64 when the
first set
804 is oriented within approximately 45 degrees of the line of sight to the
sensing device
16 even when the second set 806 is oriented within less than approximately 45
degrees of
the line of sight to the sensing device 16. However, the hysteresis control
may direct the
controller to unlatch from the first set 804 of LEDs 64 and to latch to the
second set 806
when the first set 804 is oriented greater than a latch angle threshold (e.g.,
approximately
45 degrees) relative to the line of sight to the sensing device 16 and the
second set 806 is
oriented toward the line of sight to the sensing device 16 more than the first
set 804. That
is, the hysteresis control may reduce the turning off and on sets of LEDs 64
when
multiple sets of LEDs 64 may be detectable by the sensing device 16 and
prevents rapid
oscillation between sets of LEDs 64 when the welding torch 14 is oriented near
the
threshold between sets of LEDs 64 and/or is briefly oriented differently
during operation.
The hysteresis control may direct the controller to remain latched to a set of
visual
markers 802 based on the orientation angle of the respective set of visual
markers 802
relative to the latch angle threshold, the continuous duration that the
respective set of
visual markers 802 is oriented within the latch angle threshold, or any
combination
thereof. Whereas the controller alone may latch to the first set 802 of LEDs
64 when the
first set 802 of LEDs 64 is directed within the half intensity angle of the
set of LEDs 64,
(e.g., approximately 30 degrees), the hysteresis control directs the
controller to remain
latched to the first set 802 of LEDs 64 for angles up to the latch angle
threshold that is
greater than the half intensity angle, and to change to the second set 806 of
LEDs 64
93
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
when the first set 802 is oriented more than the latch angle threshold and the
second set
806 is oriented within the latch angle threshold. The latch angle threshold
may include,
but is not limited to the half intensity angle (e.g., approximately 20, 30,
45, or 60 degrees)
of the LEDs 64. Additionally, or in the alternative, the controller to remain
latched to the
first set 804 of visual markers 802 while the axis 784 of the first set 804 is
within a latch
angle threshold of approximately 10 to 60, 15 to 45, or 20 to 30 degrees
relative to a line
of sight to the sensing device 16. The controller may remain latched to the
first set 804
despite brief intervals (e.g., less than approximately 10, 5, 3, or 1 seconds)
for which first
set 804 is still visible yet the second set 806 of visual markers 802 is most
directed
towards the sensing device 16.
[00258] Upon latching to a set of LEDs 64 that approximate the ideal model,
the
controller may update (blocks 876) the items displayed on the display 32 of
the welding
system 10, the display 32 of the helmet 41, and/or the display 62 of the
welding torch 14
based at least in part on the position and orientation determined from the
tracked set of
LEDs 64. In some embodiments, the controller may update (block 876) the
displays 32
and/or 62 in real time (RT), thereby enabling the guides of the graphical
representations
of the welding parameters to be RT guides usable by the operator during the
welding
operation. The controller may maintain the status (e.g., on, off) of each set
of LEDs 64
while the determined rigid body model approximates the ideal model. In some
embodiments, the controller may repeat method 860 at intervals during
operation, thereby
turning on each set of LEDs 64 sequentially to verify that the determined
rigid body
model of the latched sot of LEDs 64 most approximates the ideal model. For
example,
the controller may repeat method 860 every 1, 5, or 15 minutes. Additionally,
or in the
alternative, the controller may repeat method 860 upon receipt of an
assignment, selection
of an assignment, upon lifting the welding torch 14 from the training stand
12, or any
combination thereof. As discussed herein, turning on each set of LEDs 64
sequentially
may include an iterative sequence of turning on one set of LEDs 64 (e.g.,
first set 804) of
the welding torch 14 and turning off all other sets of LEDs 64 (e.g., second
set 806, third
set 810) of the welding torch 14 for the detection interval, such that each
set of LEDs 64
is turned on and emits light for a duration while the other sets of LEDs 64
are turned off
and do not emit light.
[00259] As discussed above, various elements of the welding system 10 may have
markers for utilization to track movement of the respective element within the
welding
environment in real-time and/or to calibrate the position and orientation of
the element
relative to the training stand 12 or to the workpiece 82. For example, the
training stand
94
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
12 of FIG. 4 may have the first and second markers 95, 96, the welding surface
112 may
have the markers 116, 118, the calibration tool 120 of FIG. 5 may have the
markers 130,
the fixture assembly 132 of FIG. 6 may have the first and second markers 134,
136, the
welding torch 14 of FIG. 30 may have the markers 474, and the welding torch 14
of FIG.
31 may have the visual markers 802. FIG. 56 illustrates a cross-sectional view
of a base
component 880 that may be provided with visual markers 882. The base component
880
may include, but is not limited to, the training stand 12, the workpiece 82,
the welding
surface 112, the calibration tool 120, the fixture assembly 132, the welding
torch 14, the
clamp assembly 588, or any combination thereof.
[00260] The base component 880 may be coupled to a thermally insulating layer
884
(e.g., plastic, fabric, ceramic, resin, glass). In some embodiments, the base
component
880 is thermally coated with the thermally insulating layer 884. Additionally,
or in the
alternative, the thermally insulating layer 884 may be wrapped about, molded
to,
mechanically fastened to, mechanically fastened around, or bonded to the base
component 880. As may be appreciated, the base component 880 may receive or
conduct
thermal heat from the welding process. In some embodiments, the base component
880 is
substantially (e.g., greater than 90 percent) covered by the thermally
insulating layer 884.
The visual markers 882 may be positioned at distinct locations on the
insulating layer 884
of the base component 880. In some embodiments, the visual markers 882 arc at
least
partially embedded and/or recessed within the thermally insulating layer 884.
The visual
markers 882 may be readily detectable by the sensing device 16. For example,
the visual
markers 882 may be reflective to one or more electromagnetic waves. For
example, the
visual markers 882 may reflect visible and/or infrared (IR) light. In some
embodiments,
one or more of the visual markers 882 may emit light, such as via one or more
LEDs 64.
The base component 880 may include a power source (e.g., battery) coupled to
such
LEDs 64, or the LEDs 64 may be powered via a power cable coupled to the
welding
system 10 (e.g., via the computer 18). The position of the each visual marker
882 may be
configured to enable the sensing device 16 to determine the position and the
orientation of
the base component 880 within the welding environment. The visual markers 882
may be
positioned on one or more faces of the base component 880. The sensing device
16 may
be configured to detect the visual markers 882 and provide feedback to a
controller (e.g.,
computer 18) to determine a rigid body model of the base component 880 and to
determine a direction of a face of the base component 880 on which the
detected visual
markers 882 arc disposed. That is, the controller (e.g., computer 18) may
determine the
rigid body model of the base component 880 and the direction of the face of
the base
component 880 in a similar manner as discussed above with determining rigid
body
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
model of the sets of LEDs 64 coupled to the welding torch 14 and determining
the
respective marker directions of the sets of LEDs 64. Different quantities
and/or
arrangements of the visual markers 882 on each side of the base component 880
may
facilitate identification of the respective sides based on detection of the
arrangement of
the visual markers 882.
[00261] A cover layer 886 (e.g., cover plate) is coupled to the insulating
layer 884 and
to the visual markers 882. The cover layer 886 may cover the visual markers
882,
thereby shielding the visual markers 882 from some environmental factors, such
as
spatter, dust, unintentional removal, and so forth. In some embodiments, the
cover layer
886 does not cover or only partially covets the visual markers 882. In some
embodiments, the cover layer 86 is a plastic, such as polycarbonate. The cover
layer 886
may be a material that is not substantially reflective of one or more
electromagnetic
waves that are reflected by the markers 882. Additionally, or in the
alternative, the cover
layer 886 not covering a visual marker 882 may be conditioned to reduce or
eliminate
reflections of electromagnetic waves (e.g., visible light, infrared light).
For example, the
cover layer 886 may be painted, coated, or roughened (e.g., sandblasted), or
any
combination thereof. In some embodiments, the cover layer 886 is substantially
non-
reflective except in an area immediately covering the visual markers 882.
[00262] FIG. 57 is a perspective view of an embodiment of the welding stand
12, the
arms 576, 578, and the clamp assembly 588. As discussed above, the first and
second
arms 576, 578 are rotatable about the support structure 566 to enable the
first and second
arms 576, 578 to be positioned at a selected height for vertical and/or
overhead welding.
As illustrated, the second arm 578 includes a clamp assembly 588 for coupling
the
workpiece 82 to the second arm 578. The second arm 578 and the clamp assembly
588
may be positioned at various heights relative the training stand 12.
Additionally, or in the
alternative, the clamp assembly 588 may be coupled to each arm 576, 578, and
the clamp
assembly 588 may be oriented in various directions relative to the sensing
device 16. As
may be appreciated, the clamp assembly 588 may include multiple visual markers
802
markers (e.g., reflective and/or light emitting) to facilitate tracking by the
sensing device
16. For example, in certain embodiments, the clamp assembly 588 may include
three
markers on one surface (e.g., in one plane) of a clamp body 889, and a fourth
marker on
another surface (e.g., in a different plane) to facilitate tracking by the
sensing device 16.
A clamp face 890 of the clamp body 889 may be substantially parallel to the
sensing
device 16, or oriented at an offset angle from the sensing device 16. A mount
892
couples the clamp assembly 588 to the second arm 578.
96
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00263] FIG. 58 is a top view of an embodiment of the mount 892 of the clamp
assembly 588 of FIG. 57, taken along line 58-58. A clamp axle 900 couples the
mount
892 to the clamp body 889. In some embodiments, a retaining feature 902 of the
clamp
axle 900 may limit the movement of the clamp axle 900 along a clamp axis 904
in at least
one direction. Furthermore, a clamp fastener 906 may interface with the
retaining feature
902 and the mount 892 to retain the clamp axle 900 in a desired position along
the clamp
axis 904. The mount 892 may rotate about an axis 908, thereby adjusting the
orientation
of the clamp body 889 and the clamp face 890 relative to the sensing device
16. In some
embodiments, a fastener 910 (e.g., pin) may couple the mount 892 to the second
arm 578
at a desired orientation. The fastener 910 may be fixedly coupled to the mount
892,
thereby preventing removal of the fastener 910 from the welding system 10. In
some
embodiments, the retaining feature 902 and/or the fastener 910 may be biased
(e.g.,
spring loaded) with respect to the clamp assembly 588, thereby enabling
automatic
engagement with the clamp assembly 588 in one or more predetermined positions.
For
example, inserting the fastener 910 into a first recess 912 orients the clamp
face 890 in a
first direction 914 substantially parallel to sensing device 16, inserting the
fastener 910
into a second recess 916 orients the clamp face 890 in a second direction 918,
and
inserting the fastener 910 into a third recess 920 orients the clamp face 890
in a third
direction 922. The second and third directions 918 and 922 may be oriented
within
approximately 10, 20, 30, 40, or 50 degrees of direction 914 (e.g., towards
the sensing
device 16). The second and third directions 918 and 922 of FIG. 58 are
approximately
30 offset from the first direction 914. When the clamp assembly 588 is
mounted on the
second arm 578 and the clamp face is oriented in the second direction 918, the
clamp
assembly 588 may be configured for welding in positions in which a portion of
the
workpiece 82 may obscure part of the joint from view of the sensing device 16.
For
example, welds performed in the 3F position (e.g., vertical fillet welds of T
and lap joints)
may be readily observed by the sensing device 16 when the workpiece 82 is
coupled to
the clamp assembly 588 on the second arm 578 such that the clamp face 890 is
oriented in
the second direction 918.
[00264] The position and the orientation of the arms and respective clamp
assemblies
are calibrated to enable the sensing device 16 to track the movement of the
welding torch
14 relative to a joint of the workpiece 82 coupled to the clamp assembly 588.
As
illustrated in FIG. 59, a calibration block 930 may be coupled to the clamp
assembly 588
to facilitate the calibration of the clamp assembly 588. In some embodiments,
the
calibration tool 610 of FIGS. 44 and 45 is coupled to the calibration block
930 such that
the calibration tool 610 extends from the calibration block 930 at a
predefined angle (e.g.,
97
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
perpendicular). The calibration block 930 and the calibration tool 610 may
enable the
sensing device 16 to calibrate the normal vector of the clamp assembly 588, to
calibrate
the normal vector of workpieces 82 secured to the clamp assembly 588, and/or
to
calibrate the true vertical (i.e., zenith) vector relative to the floor. The
sensing device 16,
via the computer 18, may determine a rigid body model and/or a centroid of
clamp
markers for the clamp assembly 588 when mounted to each aim 576, 578, during
which
different sides of the clamp assembly 588 are in view of the sensing device 16
where each
side of the clamp assembly 588 has a unique configuration of markers. The
sensing
device 16 may be coupled to the arms 576, 578 so that as each arm is raised
and lowered,
a y-value of a centroid of the clamp markers of the respective side changes.
As discussed
above, movement of each arm 576, 578 may adjust the orientation of the sensing
device
16. Accordingly the sensing device 16 may determine the y-value of the
centroid of
clamp markers for the clamp assembly 588 at multiple heights of the respective
arms 576,
578. The computer 18 may determine the zenith vector for each of the centroids
at the
respective heights, thereby enabling the computer 18 to determine (e.g.,
interpolate) the
zenith vector for any height using the y-value of the centroid of clamp
markers when the
clamp assembly 588 is coupled to each arm 576, 578. A level may be utilized
with the
clamp calibration block 930 during calibration at each height to ensure the
orientation of
calibration tool 610 accurately represents the zenith vector. The y-value of
the centroid of
clamp markers can also be used to determine the height of the clamp and to
provide the
operator with feedback on correct height positioning for welding session. The
height of
the clamp assembly 588 during a welding session may be stored with the welding
data
327 for each welding session. In some embodiments, the welding system 10 may
determine the orientation of the clamp assembly 588 relative to the sensing
device 16,
thereby enabling the welding system 10 to notify the operator if the workpiece
82 is in an
improper orientation for the welding session. For example, the welding system
10 may
notify the operator when the clamp assembly 588 and workpiece 82 are oriented
such that
the visual markers 802 of the welding torch 14 would be at least partially
obscured from
view of the sensing device 16 during the welding session, thereby enabling the
operator to
adjust the clamp assembly 588 so that all of the visual markers 802 may be
observed..
[00265] FIG. 60 is a flowchart 940 that illustrates the set up and execution
of
assignment welding session utilizing one of the arms for a vertical or
overhead (e.g., out
of position) session. The operator selects (block 942) an out of position
session (e.g., 2G,
3G, 3F, 4G, 4F) and tacks (block 944) the workpiece together. The operator
then sets up
(block 946) the desired arm to the height corresponding to the session and
adjusts the
clamp assembly for calibration with the sensing device. Upon setup of the arm
and clamp
98
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
assembly, the operator couples (block 948) the workpiece to the clamp
assembly. Then
the operator may adjust (block 950) the clamp orientation, such as if the
workpiece at
least partially obscures the joint from the sensing device, if markers of the
workpiece or
clamp assembly are obscured from the sensing device, or if the clamp assembly
is not
substantially perpendicular to the ground, or any combination thereof. After
adjusting the
clamp orientation, the operator, an instructor, or an administrator may
calibrate (block
952) the clamp assembly. In some embodiments, the calibration may be performed
once
for each occasion that the arm is moved or for each occasion that the clamp
assembly is
attached to the arm, such that the clamp assembly may not calibrated prior to
each
session. The calibration of the clamp assembly may validate that the clamp
assembly is
detected in the configuration and/or orientation specified for the session.
The operator
calibrates (block 954) the joint ends, thereby establishing the 2 points in a
line
representing the joint. In some embodiments, such as for welding sessions in
the 3F
position, the operator calibrates (block 954) the joint ends utilizing the
calibration tool
610 described above with FIGS. 44 and 45, where an axis of the calibration
tool is held
within approximately 50 of parallel to the sensing device. As may be
appreciated,
welding sessions in other positions may be calibrated with the calibration
tool having
other orientations relative to the sensing device. Additionally, or in the
alternative, the
computer may compensate for orientations of the calibration tool during
calibrations
where the markers of the calibration tool are observed at a skewed angle. For
example,
the computer may determine the angle of the calibration tool relative to the
clamp
assembly, then utilize the determined angle to adjust calibration values of
the joint ends.
After the calibration of the joint ends, then the operator performs (block
956) the welding
session and reviews (block 958) the results. In some embodiments, the display
of the
training stand and/or the display of the welding torch may provide
instructions to the
operator to guide the setup for the welding session.
[00266] The sensing device 16 may track the position and orientation of the
clamp
assembly 588, the workpiece 82, and the welding torch 14 prior to performing
assignment
welding session, during the welding session, and after performing the welding
session.
As discussed above, the sensing device 16 may include one or more cameras that
detects
visual markers 802, such as visual markers of the clamp assembly 588, the
workpiece 82,
and the welding torch 14. In some embodiments, the computer 18 may utilize
data
corresponding to the visual markers 802 of fixed surfaces (e.g., the clamp
assembly 588,
the workpiece 82) for reference with respect to other tracked objects in the
welding
environment whenever the visual markers 802 of the fixed surfaces are
detectable. That
is, the visual markers 802 of the fixed surfaces facilitate real-time tracking
of other
99
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
objects (e.g., welding torch 14, calibration tool 610) within the welding
environment.
The visual markers 802 detected by the one or more cameras of the sensing
device 16
may include passive markers (e.g., stickers, reflectors, patterns) and/or
active markers
(e.g., lights, LEDs). The passive markers may be best observed with a first
exposure
setting (e.g., 8, 15, 25, 50) of the one or more cameras of the sensing device
16, and the
active markers may be best observed with a second exposure setting (e.g., 1,
2, 3, 4, 5) of
the one or more cameras, which may be different than the first exposure
setting. In some
embodiments, the visual markers 802 of the clamp assembly 588 and the
workpiece 82
may be passive markers, and the visual markers 802 of the welding torch 14 may
be
active markers (e.g., LEDs 64). Moreover, the passive markers may be
illuminated by a
light source (e.g., one or more lights, LEDs 64) of the sensing device 16,
where light
(e.g., infrared light, visible light) from the light source reflects off the
passive markers
and is observed by one or more cameras of the sensing device 16 when the
passive
markers are oriented towards the one or more cameras. Accordingly, the
exposure setting
of the one or more cameras may be adjusted based at least in part on the type
of visual
marker to be observed. As may be appreciated, the second exposure setting for
sampling
the active markers that emit light may be less than the first exposure setting
for sampling
the passive markers that reflect light.
[00267] The computer 18 may alternately track the visual markers 802 of the
welding
torch 14 and the fixed surfaces of the welding environment prior to performing
and
during performance of a welding session (e.g., simulated welding assignment,
live
welding assignment). Accordingly, the computer 18 may track in real-time the
position
and the orientation of the welding torch 14, the clamp assembly 588, and the
workpiece
82 relative to each other and to the training stand 12. The computer 18 may
primarily
track the visual markers 802 of welding torch 14 when detecting the position
and
orientation of objects in the welding environment about the training stand 12,
and the
computer 18 may secondarily track the visual markers 802 of the fixed surfaces
(e.g.,
main welding surface 88, clamp assembly 588, clamped workpiece 82). That is,
the
computer 18 may primarily track the visual markers 802 of the welding torch 14
by
sampling to detect the active visual markers 802 of the welding torch 14 at a
higher rate
than the secondarily tracked passive visual markers on the fixed surfaces. The
active
markers of the welding torch 14 may be turned on substantially continuously
before,
during, and after a simulated or live welding session (e.g., welding
assignment). The
computer 18 may control the exposure setting of the one or more cameras of the
sensing
device 16 to control the respective sampling rates of the fixed surfaces and
the welding
torch 14. For example, the visual markers 802 of the welding torch 14 may be
sampled
100
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
1.5, 2, 3, 4, 5, or more times than the visual markers 802 of the fixed
surfaces are
sampled. Additionally, or in the alternative, an active visual marker sample
interval may
be greater than a reflective visual marker interval, where the computer 18
repeatedly
tracks visual markers of the welding system 10 by cycling through the active
visual
marker sample interval and the reflective visual marker sample interval. That
is, the
computer 18 cycles the exposure setting of the one or more cameras between the
second
exposure setting (e.g., low exposure value to track the active markers of the
welding torch
14) and the first exposure setting (e.g., high exposure value to track the
passive markers
of the fixed surfaces). Adjusting the exposure setting of the one or more
cameras of the
sensing device 16 may lag the cycling of sample intervals. In some
embodiments, the
computer 18 may record data corresponding to detected passive (e.g.,
reflective) visual
markers regardless of which sample interval (e.g., reflective visual marker
interval, active
visual marker sample interval) during which the data is received. Moreover,
the
computer 18 may record data corresponding to detected active visual markers
only when
passive visual markers are not detected, thereby improving the accuracy of the
recorded
data by reducing noise that may be associated with detecting multiple types
(e.g., active,
passive) of visual markers.
[00268] Prior to initiating a simulated welding session (e.g., welding
assignment), the
computer 18 may control the light source of the sensing device 16 (e.g., LEDs
64) to be
turned on, thereby enabling the computer 18 to track the passive markers of
the fixed
surface and the active markers of the welding torch 14 prior to initiating the
simulated
welding session, during the simulated welding session, and after the simulated
welding
session. As described above, the computer 18 may cycle the exposure setting of
the one
or more cameras prior to initiating and during the welding assignment to
sample the
passive markers with the first exposure setting and to sample the active
markers with the
second exposure setting. During live welding (e.g., while the trigger of the
welding torch
14 is actuated), the computer 18 may control the light source of the sensing
device 16 to
pulse at an increased brightness level, thereby cyclically increasing the
reflected light
from the passive markers. Pulsing (e.g., strobing) the light source may enable
the one or
more cameras of the sensing device 16 to readily track the passive markers
with a reduced
exposure setting during live welding with the bright arc and spatter.
Furthermore, pulsing
the light source illuminating the passive markers may reduce motion blur. The
computer
18 may control the exposure setting of the one or more cameras to be
synchronized with
the pulsing of the light source of the sensing device 16, such that the light
source pulses
more brightly when the exposure setting is at the first (e.g., high) exposure
setting, and
the light source dims or turn off when the exposure setting is at the second
(e.g., low)
101
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
exposure setting. For example, the computer 18 may control the exposure
setting of the
one or more cameras so that the exposure setting is set at the first (e.g.,
high) exposure
setting to detect the passive markers when the light source pulses brightly,
and the
exposure setting is set at the second (e.g., low) exposure setting to detect
the active
markers when the light source dims or turns off. Additionally, or in the
alternative, the
computer 18 may control the light source of the sensing device 16 to turn off
during
calibration of the clamp assembly 588, thereby distinguishing the active
markers of the
welding torch 14 from the passive markers of the clamp assembly 588. In some
embodiments, a pulsed brightness level of the light source of the sensing
device 16 may
be greater than when the light source is turned on substantially continuously
(e.g., prior to
and after completion of a welding assignment while the weld system records
data related
to the welding assignment). The sensing device 16 may more readily detect the
passive
markers at the greater brightness level of the light source than at the lower
brightness
level. However, pulsing (e.g., strobing) the light source of the sensing
device 16 during
non-live welding operations (e.g., a simulated weld, virtual reality weld) may
unintentionally activate an auto-darkening circuit of a welding helmet.
Accordingly, the
light source of the sensing device 16 may be pulsed during live welding when
the welding
helmet is darkened due to the arc, yet the light source of the sensing device
16 is turned
continuously on during simulated welding when the welding helmet is not
darkened. The
computer 18 may control the pulse rate and/or the pulse duty cycle (e.g., 10%,
25%, 50%,
100%) of the light source (e.g., one or more LEDs 64). Additionally, or in the
alternative,
the computer 18 may control illumination settings (e.g., wavelength,
intensity) of the light
source of the sensing device 16 during non-live welding intervals so that the
auto-
darkening circuit of a welding helmet does not activate. For example, where
the auto-
darkening circuit of a welding helmet activates in response to light of a
certain
wavelength or intensity, the computer 18 may control the light source to pulse
or
continuously emit light of a wavelength or intensity that reduces or
eliminates the
activation of the auto-darkening circuit.
[00269] In some embodiments, the welding system 10 may track a multi-pass
(e.g.,
multi-run) session, thereby recording welding data 327 for each pass (e.g.,
run) of the
multi-pass session. As discussed above with FIG. 40, the control circuitry 52
of the
welding system 10 may record the welding data 327 for each run of the multi-
run session
as a single welding operation for determining a quality of the multi-run
session or for
otherwise reviewing the multi-run session. In some embodiments, the control
circuitry 52
of the welding system 10 may record welding data 327 for a multi-run session
as a group
of runs that correspond to a serial number or other identifier for the multi-
run session.
102
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
That is, the welding data 327 for a multi-run session may be reviewed and
evaluated as a
group, or each run of the multi-run session may be reviewed and evaluated
separately.
Multi-run sessions may include, but are not limited to a live process, a
simulated process,
a virtual reality process, or any combination thereof.
[00270] FIG. 61 is a flowchart 970 that illustrates the selection and
execution of a
multi-pass (e.g., multi-run) welding session (e.g., welding assignment). The
operator
selects (block 972) a multi-run session and sets up (block 974) the workpiece
82 together
on the training stand 12. Set up of the workpiece 82 may include clamping the
workpiece
82 to the training stand 12. The operator calibrates (block 976) the joint,
such as by
utilizing the joint calibration tool 610 to calibrate the position of a first
end of the joint
and the second end of the joint. As may be appreciated, the joint calibration
tool 610 may
directly interface with the workpiece 82 for the calibration (block 976) prior
to the first
run of the multi-run session. The operator selects (node 978) whether to
perform the next
(i.e., first) run of the multi-run session in a simulated welding mode or a
live welding
mode. In some embodiments, the selected welding session (e.g., welding
assignment)
may prohibit or limit the quantity of simulated welds that may be performed
prior to live
welds. In some embodiments, the selected session may prohibit the live welding
mode
until completion (e.g., satisfactory completion) of a simulated weld. As
discussed herein
with FIG. 61, a simulated welding mode is distinct from the live welding mode,
and the
simulated mode may include, but is not limited to, the simulated mode, the
virtual reality
mode, or the augmented reality mode. When the simulated weld mode is selected,
the
operator performs (block 980) the simulated run. The control circuitry 52 may
display
(block 982) the results of the simulated run via the display 32 of the
training stand 12, the
display 62 of the welding torch 14, or the display 32 of the weld helmet 41.
For example,
the control circuitry 52 may display the weld data 327 from the simulated run
and the
target specifications for the simulated run. Additionally, or in the
alternative, the control
circuitry may display the weld score for the simulated run. After completing
the
simulated run, the operator again selects (nodes 978) whether to perform the
next run in
the simulated welding mode or in the live welding mode.
[00271] When the live welding mode is selected, the operator performs (block
984) the
live weld run on the calibrated joint. The control circuitry 52 may display
(block 986) the
results of the live run via the display 32 of the training stand 12 and/or the
display 62 of
the welding torch 14. For example, the control circuitry 52 may display the
weld data
327 from the live run and the target specifications for the live run.
Additionally, or in the
alternative, the control circuitry 52 may display the weld score for the live
run. The
103
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
displayed results for the live run may be displayed with results of any
previous simulated
runs for the same joint.
[00272] Each run (e.g., simulated or live) of the multi-run welding session
(e.g.,
welding assignment) may be evaluated separately based at least in part on
target
specifications (e.g., minimum, goal, maximum) for torch position parameters
(e.g., work
angle, travel angle, CTWD, travel speed, aim) and/or electrical parameters
(e.g., weld
voltage, weld current, wire feed speed). For example, a rootpass run may have
different
specification parameters than subsequent runs. After a run of the multi-run
session is
completed, the control circuitry 52 may determine whether the completed run of
the
session satisfies the target parameter values for the respective run. For
example, the
welding data 327 for a run of the multi-run session may be compared with the
target
parameter values to generate a score for each parameter and/or a total score
for the
respective run. The control circuitry 52 may determine whether the run passes
the target
specifications for the respective run.
[00273] The control circuitry 52 determines (node 988) whether all of the runs
of the
selected welding session (e.g., welding assignment) have been completed. If
all of the
runs of the selected multi-run session have not been completed, then the
operator selects
(block 990) the next run. In some embodiments, the operator may proceed to the
next run
of the multi-run session regardless of whether the previous run passes the
target
specifications. Additionally, or in the alternative, the operator may proceed
to the next
run of the multi-run session regardless of whether the weld data 327 for the
previous run
is complete. For example, if the sensing device 16 cannot track the position
and the
orientation of the welding torch 14 for at least a portion of a run of the
multi-run session,
the operator may continue performing each run of the multi-run session. The
operator
calibrates (block 976) the joint for each run of a multi-run session, such as
by utilizing the
joint calibration tool 610 to calibrate the position of a first end of the
joint and the second
end of the joint. As may be appreciated, joint calibration tool 610 may have
directly
interfaced with the workpiece 82 for the initial calibration of the joint
prior to the first
run. Subsequent calibrations may directly interface the joint calibration tool
610 with the
previously formed weld bead of one or more previous runs. Accordingly, the
calibrated
ends of the joint for each run may have a different position relative to the
sensing device
16 of the welding system 10. When the subsequent calibration for the next run
is
completed, the operator again selects (nodes 978) whether to perform the next
run in the
simulated welding mode or in the live welding mode.
104
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
[00274] If all of the runs of the selected multi-run session have been
completed, then
the control circuitry 52 may display (block 992) the results of each of the
live runs via the
display 32 of the training stand 12 and/or the display of the welding torch
14. For
example, the control circuitry 52 may display the weld data 327 from each of
the live runs
and the target specifications for each of the live runs. Additionally, or in
the alternative,
the control circuitry 52 may determine whether the group of runs passes the
target
specifications for the multi-run session based on one or more evaluations of
the runs. For
example, the control circuitry 52 may evaluate the group of runs with a total
score based
on a geometric mean of the scores for each run, an arithmetic mean of the
scores for each
run, a minimum score of the group of runs, a sum of the determined scores,
whether each
run was completed with a passing score, or any combination thereof. In some
embodiments, ending the welding session with fewer completed live runs than
specified
for the multi-run welding session may result in an inadequate (e.g., failing)
total score for
the multi-welding run session. In some embodiments, a threshold quantity
(e.g., 1, 2, or
3) of runs with untracked welding torch position and orientation may not
affect the
evaluation of the multi-run session. That is, the one or more runs with
untracked welding
torch position and orientation may not be counted in the geometric and/or
arithmetic
mean. In some embodiments, the control circuitry 52 may store the weld data
327 from
each run of the multi-run session locally until completion of the multi-run
session. Upon
completion, the control circuitry 52 may transmit the weld data 327 associated
with the
completed multi-run session to a remotely located data storage system 318.
Upon display
of the session results (block 992), the operator may select (block 994) to
retest with the
selected session. The operator removes the previously tested joint, and sets
up (block
974) a new joint for the retest. The control circuitry 52 may assign a
different serial
number to the new joint for the retest than the serial number of the
previously tested joint,
thereby enabling the operator and an instructor to review and evaluate the
weld data 327
from each joint.
[00275] As described herein, various parameters may be tracked (e.g.,
detected,
displayed, and stored) during operation of the welding system 10 (e.g., in
real-time while
the welding system 10 is being used) including, but not limited to, torch
position
parameters (e.g., work angle, travel angle, CTWD, travel speed, aim) and arc
parameters
(e.g., weld voltage, weld current, wire feed speed). The arc parameters, for
example, may
be detected in the welding torch 14 (e.g., using the voltage sensor 425, the
current sensor
427, or other sensors, as illustrated in FIG. 25), converted using analog-to-
digital
conversion (ADC) circuitry, and communicated to the computer 18 via a
communication
interface 68 (e.g., RS-232 communication channel), as discussed herein with
respect to
105
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
FIG. 1. Alternatively to, or in addition to, being detected in the welding
torch 14 (e.g., in
the handle of the welding torch 14 illustrated in FIG. 5), the arc parameters
may be
detected in the weld cable 80, the welding power supply 28, the wire feeder
30, or some
combination thereof, each of which are illustrated in FIG. 2.
[00276] The welding system 10 may detect and display (e.g., numerically,
graphically,
and so forth) the arc parameters via a screen viewable on the display 32 of
the welding
system 10 similar to the screens illustrated in FIGS. 20 and 21, for example.
An
exemplary screen 996 having a weld mode indicator 998 that indicates that the
welding
system 10 is in a live-arc weld mode may be displayed on the display 32 is
illustrated in
FIG. 62. As illustrated in FIG. 62, the arc parameters may be displayed on the
screen
996. For example, in the illustrated screen 996, a voltage graph 340 may
display a time
series of voltage 337 of the arc produced by the welding torch 14, and an
amperage graph
340 may display a time series of the current 338 produced by the welding torch
14. In
certain embodiments, filters may be applied to at least some of the arc
parameters and the
torch position parameters to smooth out noise in the time series graphs 340 of
the values
detected by the welding torch 14.
[00277] It will be appreciated that the arc parameters may be time
synchronized by the
welding software 244 in real-time with the torch position parameters that is
captured
through the motion tracking system (e.g., the sensing device 16). In other
words, the arc
parameters and the torch position parameters may all be graphed on their
respective
graphs 340 such that data points for each of the time series are vertically
aligned with data
points from each of the other time series that are captured at approximately
the same time
(e.g., within 100 milliseconds, within 10 milliseconds, or even closer in
time, in certain
embodiments). This enables the user to correlate the arc parameters with the
torch
position parameters. Although not illustrated in FIG. 62, in certain
embodiments, wire
feed speed may also be detected in real-time in the same manner as voltage and
current.
[00278] As illustrated in FIG. 62, in certain embodiments, each arc parameter
(as well
as each torch position parameter) may be individually scored in relation to a
pre-defined
upper limit, lower limit, and/or target value, and the scores 341 may be
depicted on the
screen 996. In addition, in certain embodiments, a total score 1000 may be
determined by
the welding software 244 and depicted on the screen 996. In addition, in
certain
embodiments, the total score 1000, indications of target total scores 1002 and
high total
scores 1004 (for example, of an entire class) may be determined by the welding
software
244 and depicted on the screen 996. In addition, in certain embodiments, an
indication
1006 of whether the test was successful or not successful may also be
determined by the
106
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
welding software 244 and depicted on the screen 996. In certain embodiments,
the total
score 1000 may be based on the individual scores 341 for the torch position
parameters,
but not based on the individual scores 341 for the arc parameters.
[00279] In addition, as illustrated in FIG. 62, in certain embodiments, an
overall status
bar 1008 may be depicted on the screen 996. The overall status bar 1008 may
include
indications of whether all of the torch position parameters are within their
respective
upper and lower limits or not. For example, if one of the torch position
parameters are
not within their respective upper and lower limits, the overall status bar
1008 may
indicate, at the same vertical position on the screen 996 as the corresponding
torch
position parameter values, a red status. Conversely, if all of the torch
position parameters
are within their respective upper and lower limits, the overall status bar
1008 may
indicate, at the same vertical position on the screen 996 as the corresponding
torch
position parameter values, a green status. It will be appreciated that other
status colors
may be used in other embodiments.
[00280] As illustrated, in certain embodiments, the value 339 for each of the
parameters
(e.g., the torch position parameters and the arc parameters) may be displayed
as an
average value over the course of a test period. For example, as illustrated in
FIG. 62, the
average voltage and amperage over the test period depicted are 18.7 volts and
146 amps,
respectively. FIG. 63 is another illustration of the screen 996 depicted in
FIG. 62. In this
instance, the average voltage and amperage is depicted as being 0.1 volts and
2 amps,
respectively, which are on the order of noise, indicating that an actual
welding arc is not
being detected. In such a situation, the amperage and voltage can be used by
the welding
software 244 to determine whether or not welding took place during a given
"weld mode"
test period. If the value of either voltage or amperage is below a certain
predetermined
threshold (e.g., the average voltage is less than 10 volts) or between a
certain
predetermined minimum and maximum threshold (e.g., the average voltage is
between -8
volts and +10 volts), the welding software 244 may determine that a weld
actually did not
take place during the time period. In such a scenario, the welding software
244 may
automatically mark a test as failed (or "unsuccessful") and/or the test may be
flagged by
the welding software 244 as having no welding detected. For example, as
illustrated, in
certain embodiments, if the average voltage and/or the average amperage for a
given test
period do not meet certain predetermined threshold(s) or fall within certain
predetermined
range(s), the indication 1006 of whether the test was successful or not
successful may
depict that the test was "Unsuccessful" (which may also be displayed for other
reasons,
such as the total score does not meet a specific requirement, for example). In
addition, as
107
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
also illustrated, in certain embodiments, when the average voltage and/or the
average
amperage for a given test period do not meet certain predetermined
threshold(s) or fall
within certain predetermined range(s), instead of depicting the total score
1000 on the
screen 996, an "Arc Not Detected" message 1010 may be depicted instead.
[00281] FIG. 64 illustrates an exemplary screen 1012 that may be displayed as
part of
the assignment development routines of the welding software 244. In
particular, FIG. 64
illustrates a screen 1012 that enables input of completion criteria for a
series of weld tests
and length requirements associated with the testing. As illustrated, the
screen 1012 is
displayed when the Completion Criteria / Length Requirements tab 1014 of the
assignment development routines is selected (and, therefore, highlighted on
screen 1012).
As illustrated, other tabs associated with configuration settings of the
assignment
development routines of the welding software 244 may include, but are not
limited to, an
Assignment Name tab 1016 that causes a screen to be displayed where the
assignment
name and other general information relating to the assignment may be entered;
a Joint
Design tab 1018 that causes a screen to be displayed where properties of the
joint to be
welded upon (e.g., type of joint, length, etc.) may be entered; a Base Metals
tab 1020 that
causes a screen to be displayed where properties related to the base metals to
be welded
upon may be entered; a Filler Metals / Shielding tab 1022 that causes a screen
to be
displayed where properties relating to the filler metals (e.g., of the welding
electrode) and
shielding gas(es) may be entered; a Position / Electrical Char. tab 1024 that
causes a
screen to be displayed where properties (e.g., upper limits, lower limits,
target values,
etc.) of the torch position parameters and the arc parameters, respectively,
may be
entered; a Preheat / Postweld Heat Tr. tab 1026 that causes a screen to be
displayed where
properties relating to preheating and postweld heating, respectively, may be
entered; a
Welding Procedure / 1 Pass tab 1028 that causes a screen to be displayed where
properties relating to the welding procedure (e.g., process type, etc.) and
the number of
passes in the test (e.g., one pass or more than one pass); and a Real-Time
Feedback tab
1030 that causes a screen to be displayed where properties relating to real-
time feedback
may be entered. It will be appreciated that, in certain embodiments, all of
the properties
relating to an assignment may be entered on the described screens, may be
automatically
detected by the welding software 244 (e.g., based on specific equipment of the
welding
system 10, based on other properties that are set, and so forth), or some
combination
thereof.
[00282] As illustrated in FIG. 64, the screen 1012 relating to the Completion
Criteria /
Length Requirements tab 1014 includes a first section 1032 specifically
dedicated to the
108
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
completion criteria properties and a second section 1034 specifically
dedicated to length
requirements associated with the testing. In certain embodiments, in the
completion
criteria section 1032 of the screen 1012, a series of inputs 1036 enables a
target score
(e.g., 90 as illustrated), a number of weld tasks in a set of weld tasks
(e.g., 5 as
illustrated), a number of successful weld test required per weld set (e.g., 3
as illustrated),
and whether a weld test will be failed if an arc is not detected (e.g., as
shown in FIG. 63)
to be entered. In addition, as illustrated, in certain embodiments, a
depiction 1038 of
what these selections of completion criteria will look like to the user (e.g.,
as illustrated in
FIG. 62 in the Actions section 1040 of the screen 996). In addition, in
certain
embodiments, in the length requirements section 1034 of the screen 1012, a
series of
inputs 1042 enables a length of a start section (A) of a weld that will be
ignored in the
score compilations, an end section (B) of a weld that will be ignored in the
score
compilations, and a maximum length (C) of the test, which may be less than the
coupon
length (which may, for example, be entered via the screen relating to the
Joint Design tab
1018) to be entered. In addition, in certain embodiments, respective
illustrations 1044 of
relative dimensions of the entered properties relating to the length
requirements may also
be depicted to aid the user in setting the length requirements.
[00283] FIG. 65 illustrates an exemplary screen 1046 that may be displayed
when the
Welding Procedure / 1 Pass tab 1028 is selected. As described above, this
screen 1046
enables properties relating to the welding procedure and the number of passes
in the test
(e.g., one pass or more than one pass) to be entered. As illustrated, in
certain
embodiments, a first series of inputs 1048 enables a process type (e.g., FCAW-
G as
illustrated), a class and diameter of the filler metals (e.g., the welding
electrode) (e.g.,
E71T-8JD H8 and 0.072 inches, respectively, as illustrated), a weld pattern
(e.g., stringer
vs. weave; stringer as illustrated), a vertical progression (e.g., up vs.
down; up as
illustrated), and any comments related to the welding procedure to be entered.
In
addition, as illustrated, in certain embodiments, a second series of inputs
1050 enables
minimum, target, and maximum values for the arc parameters (e.g., volts,
wirefeed speed,
and amps), labeled as Welding Power Source Settings, and the torch position
parameters
(e.g., work angle, travel angle, CTWD, travel speed, and aim), labeled as
Torch
Technique Parameters, to be entered. Also as illustrated, in certain
embodiments, a third
series of inputs 1052 enable more detailed input relating to minimum, target,
and
maximum values (e.g., relating to how much deviation from target values are
allowed for
the upper and lower limits, and so forth) for a highlighted arc parameter or
torch position
parameter (e.g., volts as illustrated). In certain embodiments, when more than
one pass is
selected for a given assignment, the minimum, target, and maximum values for
the arc
109
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
parameters and/or the torch position parameters may be individually set for
each pass
within the assignment. In certain embodiments, entry of properties for
multiple passes for
a given assignment may be enabled via an Add Pass button 1054, as illustrated.
[00284] As discussed above with respect to FIGS. 62 and 63, the arc parameters
may be
displayed when the welding software 244 is in a live-arc weld mode.
Conversely, FIG.
66 illustrates an exemplary screen 1056 that depicts the welding software 244
when in a
simulated weld mode, as indicated by the weld mode indicator 998. As
illustrated, when
the welding software 244 is in a simulated weld mode, the arc parameters are
not
displayed since actual welding is disabled in this mode, and a message
indicating as much
may be displayed instead.
[00285] In certain embodiments, the arc parameters are not displayed by
default below
the torch position parameters, such as illustrated in FIGS. 62 and 63. Rather,
FIG. 67
illustrates an exemplary screen 1058 that is depicted by default (i.e., before
a weld test
has been initiated). As illustrated, instead of the are parameters, a welding
procedure
summary pane 1060 is illustrated to summarize for the user what the overall
properties
(e.g., target properties) for a given test weld are. In certain embodiments,
from the
welding procedure summary pane 1060, a user may select a View WPS button 1062,
which will cause the screen 1064 illustrated in FIG. 68 to be displayed. As
illustrated,
FIG. 68 is a summary of all of the information relating to all of the
parameters of a weld
test session or a weld test assignment (e.g., which may be entered via
selection of the
various assignment development tabs 1014-1030 illustrated in FIGS. 64 and 65).
[00286] Returning now to FIG. 67, once the user has completed pre-test
procedures and
is prepared to begin a weld test, upon activation of the trigger 70 of the
welding torch 14
to start a weld test, the welding procedure summary pane 1060 is replaced by
the
information relating to the arc parameters to display the real-time graphing
of the arc
parameters during performance of the weld test (see, e.g., FIG. 69), allowing
the user to
view all graphs relating to the torch position parameters and the are
parameters in real-
time during the weld test. Indeed, in certain embodiments, upon activation of
the trigger
70 of the welding torch 14 to start a weld test, whatever screen is currently
being
displayed may be replaced with, for example, the screen 996 illustrated in
FIG. 69 such
that all of the torch position parameters and arc parameters may be
graphically displayed
in real-time.
[00287] FIG. 70 illustrates an alternative screen 1066 that may be displayed
following
the performance of a test weld. As illustrated, in certain embodiments, in
addition to the
arc parameters (e.g., voltage, amperage, wire feed speed), heat input 1068 may
be
110
displayed and, as with all of the other torch position parameters and the arc
parameters, is
time synchronized along their respective time series. In general, the detected
voltage and
amperage data and the detected travel speed data may be used to compute the
heat input
in real-time for each point in time along the time series (e.g., time-based)
or at each
location along the weld joint (e.g., distance-based). In particular, in
certain embodiments,
the heat input (in kilojoules) may be calculated as a function of the voltage,
the amperage,
and the travel speed (in inched per minute) as:
Amps x Volts x 60
Heatinput =
1000 x TravelSpeed
1002881 In addition, although not illustrated in FIG. 70, in certain
embodiments, the
weld size (fillet size; in millimeters) can be computed in real-time using the
wire feed
speed (WFS; in inches per minute), which may either be detected or specified
by a user,
travel speed (in meters per minute), and a predetermined value for efficiency
(/0), and
wire diameter (in millimeters) as:
I
¨ x WireDiameter' x (25.4 x WFS)x Efficiency
4
FilletSize =
1000 x TravelSpeed
2
[00289] In certain embodiments, the predetermined value for efficiency may
take into
account any detected spatter, which may be determined using the techniques
disclosed in
"Devices and Methods for Analyzing Spatter Generating Events", U.S. Patent
Application
No. 2013/0262000, filed on March 30, 2012 in the name of Richard Martin
Hutchison et
al., which may be referenced for further details. For example, the
predetermined value of
efficiency may be adjusted to, for example, lower the predetermined value of
efficiency
when more spatter generating events are determined to occur, increase the
predetermined
value of efficiency when fewer spatter generating events are determined to
occur, and so
forth.
[00290] As used herein, the term "predetermined range" may mean any of the
following: a group of numbers bounded by a predetermined upper limit and a
predetermined lower limit, a group of number greater than a predetermined
limit, and a
group of numbers less than a predetermined limit. Moreover, the range may
include
numbers equal to the one or more predetermined limits.
1002911 While only certain features of the invention have been illustrated and
described
herein, many modifications and changes will occur to those skilled in the art.
It is,
111
CA 2961593 2018-09-05
CA 02961593 2017-03-15
WO 2016/073334 PCT/US2015/058569
therefore, to be understood that the appended claims are intended to cover all
such
modifications and changes as fall within the true spirit of the invention.
112
